Ionic Polymer-Metal Composite (IPMC) has been utilized as an actuator in several robotic applications such as the actuator for its locomotion and gripper of the end effector. However, due to its low actuation force which is normally less than 10gf (depend on dimension), the application has been limited to small scale robot. Hence, in this research we propose a multilayer structure of IPMC actuator and investigate the actuation force increment. Besides, parametric study was also conducted to determine the force-to-weight ratio and the bending displacement. The obtained results had been compared to single ply IPMC actuator at the same thickness. The result shows that the increment of IPMC layer had increased the actuating force up to 30% for two layers and 40% for three layers. In addition, utilizing multilayered IPMC had reduced the stiffness constraint for thicker IPMC. This finding would be useful in designing stage of a small scale robot that require higher actuation force at a higher bending displacement.
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