▎ 摘　　要

In this article, polyacrylonitrile-kraton-graphene (PAN-KR-GR) ionomeric polymer membrane sandwiched between Pt electrode-based ionic polymer-metal composite (IPMC) actuator is developed. The aim of this study is to design and prepare multifunctional ionic polymer-metal composite membrane for robotic application. The water uptake capacity and ion exchange capacity of polyacrylonitrile-kraton-graphene ionomeric membrane is 133.33% at 45 degrees C for 8h of immersion and 1.4meqg(-1) of dry membrane, respectively. Proton conductivity and maximum water loss of ionic polymer-metal composite membrane is 5.26mScm(-1) and 38% after applying 7V for 12 min, respectively. Scanning electron micrographs shows the smooth and uniform coating of platinum (Pt). Cyclic voltammetry, linear sweep voltammetry, Fourier transform infrared spectroscopy, thermogravimetric analysis, X-ray diffraction, and tip displacement of PAN-KR-GR-Pt IPMC membrane are also examined. A multifinger-based gripping system for dexterous handling is developed for robotic application.