成果報告書詳細
管理番号20160000000551
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 (革新的ロボット要素技術分野)次世代機能性材料 コンデンサ化マテリアル基材によるソフトアクチュエータ開発
公開日2016/7/27
報告書年度2015 - 2015
委託先名国立大学法人岐阜大学 株式会社ブイ・アール・テクノセンター
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Currently, broad range of actuators are available in various industrial fields. Some actuator exhibits extremely high force and extremely large deformation, some actuator exhibits high precision deformation, and some actuator exhibits extremely fast deformation. In accordance with our purpose, various kinds of actuators are available today.
Now, these days another type of actuator has come to be required. It is a soft actuator. Without exception, the existing actuators consists primarily of metal or ceramics. Those actuator body is hard, and their motion is awkward and less flexible. Those actuators are quite less human-oriented. For example, when the actuator is used for assisting the activity of a disabled person, hard body of actuator is quite uncomfortable for such a disabled person. Awkward and straightforward motion of existing actuator is sometimes harmful for the people.
For the aged society we are now in, the nursing care robot is highly demanded. For creating a practical nursing care robot, a human-oriented soft motion actuator is highly required technology. With those background in mind, our primary research purpose lies in achieving the practical soft actuator. The practical soft actuator should exhibit high flexibility, high strain, high force generation, fast response to external stimulation, and etc. So far, various types of soft actuators have been investigated by a number of researchers such as hydrogel, azobenzene, conducting polymer, Ionic Polymer Metal Composite, polymeric laminate, dielectric elastomer actuator, end etc. Although none of those soft actuators has become practically available, we came to conclusion that Dielectric Elastomer Actuator (DEA) could be available as a practical soft actuator near future after examining the individual characteristics of those various soft actuator materials.
DEA lacks some fundamental characteristics as a soft actuator. For example, DEA requires high electric field to be deformed and its strain is low and its shape change speed is relatively slow. We speculate that those issues could be overcome by miniaturizing DEA by employing microfabrication technique.
Prior to actually putting our idea of DEA microfabrication into practice, it is necessary to choose the appropriate DEA ingredient. Usually VHB tape (Sumitomo 3M) is used as an ingredient of DEA. However, the VHB tape is a ready-made material, and it cannot be microfabricated. What is in need for our DEA study is a polymerizable polymer ingredient. Therefore, we chose to use PDMS, which has been widely used bioengineering field. As a preliminary experimental work, we quantitatively checked the performance of PDMS-based DEA (hereafter called PDMSDEA). We fabricated a macroscopic sized PDMSDEA, ~30 mm ( ~20 mm ( ~0.5mm. We could observe the reversible shape change of PDMSDEA in response of external electric stimulation. Thus, we chose to further study PDMS as a DEA ingredient.
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