成果報告書詳細
管理番号20160000000567
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 可塑化PVCゲルを用いたウェアラブルロボット用ソフトアクチュエータの研究開発
公開日2016/7/22
報告書年度2015 - 2015
委託先名国立大学法人信州大学  国立研究開発法人産業技術総合研究所
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Title: Core technology development for next-generation robots/Elemental technology for innovative robots/Development of a soft actuator using plasticized PVC gel for wearable robots (FY2015-FY2016) FY2015 Annual Report

1. A PVC gel sheet actuator using flexible electrodes
We proposed a novel sheet actuator using PVC gel and flexible electrodes. And we conducted some preliminary experiments to investigate the basic characteristics of the fabricated sheet actuators. We found that the thinner PVC gel has a bigger expansion ratio and the expansion ratio was almost proportional to the applied DC field. We obtained an expansion ratio of 24% (DC field of 16V/μm). And we found that the actuator with a pre-strain had a smaller expansion ratio than the actuator with the same thickness but without a pre-strain, under the same DC field. Furthermore, we found that the proposed actuator had a positive potential to be driven at a lower voltage (1V/μmー) than the traditional dielectric elastomer actuator (DEA) (10V/μmー). And the response time of the actuator is about 0.09s which is about ten times faster than that of the DEA (1s). Finally, we changed the shape of the electrodes and found that the expansion ratio of the actuator is anisotropic.
2. A flexible woven sheet actuator using plasticized PVC gel fibers
A woven sheet formed from conductive plasticized PVC gel fibers with a core-sheath structure was proposed for constructing a flexible sheet-like soft actuator. Then, the characteristic of the woven structure as the flexible actuator was examined from a preliminary experiment. By applying a voltage of up to 500 V, the woven actuator was contracted in plane. Contraction strain was increased with increasing of applied voltage, and it became about 15 % at 500V. This result indicates that our proposal was demonstrated to be effective for development of a flexible sheet-like soft actuator.
3. Creation of yarn-structured PVC gel actuators
A yarn-structured PVC gel actuators consist of two sorts of string-like elements; anode and cathode parts. The former is made from conductive material, meanwhile the latter has core-clad structure having the electro-conductive core and the PVC gel clad. The anode and cathode have approached to each other (lateral deformation) by voltage application. In some cases, the yarn was observed to be rotate along with its behavior.
4. Studies of electric-response mechanism of a plasticized PVC gel.
In this FY, the electric responses of the PVC gels with various electrodes were studied in order to clarify the basic properties of the electric response of the PVC gels. The PVC gels were prepared by casting from solution composed of PVC (10 wt%) and dibutyl adipate (DBA) (90 wt%) as a plasticizer in tetrahydrofuran (THF) as a solvent. Various electrodes were measured by square-wave voltage of the amplitude from -1 kV to 1 kV and the frequency of 0.1 H and 1Hz. From the results, it is concluded that the electric bending responses are toward anode side for the measurements with every electrode and the bending amplitude depends on the electrode materials.
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