JP2004314219A - Linear motion artificial muscle actuator and method of manufacturing linear motion artificial muscle actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enhance the capacity of an actuator and increase a force generated in the actuator by appropriately combining the membranes forming a polymer actuator to convert curvature motion into linear motion. <P>SOLUTION: A linear motion artificial muscle actuator 1 includes four elements 2a, 2b, 2c, and 2d which are made of IPMC membranes, for example. Flexible members 3a and 3b respectively connect a pair of elements 2a and 2b disposed in the longitudinal direction with a certain space therebetween, and another pair of elements 2c and 2d disposed below them (in the second level). Insulating members 4a and 4b respectively connect both ends of the pair of elements 2c and 2d and the other pair of elements 2a and 2b in the longitudinal direction. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to, for example, a linear motion artificial muscle actuator using an ion conductive polymer and a method for manufacturing the linear motion artificial muscle actuator.
[0002]
[Prior art]
Today, machines realize high-speed, high-output, and high-precision operations that cannot be performed by humans, and greatly contribute to society and industry. Recently, other aspects such as miniaturization and flexibility have been demanded. In particular, for robots that coexist with humans and human living environments, safe and soft actuators are desirable.
[0003]
One of the actuators that have attracted attention among them is a polymer actuator. The polymer actuator is capable of performing a soft biological motion and is expected as an artificial muscle actuator.
[0004]
Research on stimuli-responsive polymer gels has been widely conducted mainly in Japan since the 1980s, and there has been great interest in medical care, welfare, robots, hobby industry, and the like. There are various driving methods for the polymer actuator system, such as heat, pH, solvent exchange, and electric field. Among them, electric field responsive polymer actuators are considered to be easy to control and have high responsiveness.
[0005]
Then, today, as one of the polymer actuators, an IPMC (Ionic Polymer-metal Composites) actuator in which a noble metal such as gold or platinum is bonded to both surfaces of a fluorine-based ion exchange resin membrane by using an electroless plating method has been proposed. I have.
[0006]
In the IPMC actuator, in 1991, a phenomenon was discovered in which a joined body of an ion exchange resin and a noble metal, which had been studied as a material for a fuel cell, bends rapidly in response to a low voltage of about 1V. . FIG. 10 shows an experimental example in which the joined body is bent. When a voltage is applied to the electrodes on both sides of the joined body in the state shown in FIG. 10 (center), the joined body bends to the + side at a high speed as shown in FIGS.
[0007]
IPMC has the following characteristics. That is,
{Circle around (1)} Drive at low voltage (about 1 to 2 V).
(2) The response speed is fast (> 100 Hz).
(3) Durability and chemical stability (continuous use of 100,000 times or more).
(4) There is flexibility.
(5) Operation in water is possible.
(6) There is no operation sound.
[0008]
In the IPMC actuator, since the film itself is the actuator, the size and weight can be reduced. When the film is dried, it does not operate, but it can be operated if it is swollen and conductive.
[0009]
[Non-patent document 1]
Kinji Azumi, Keisuke Oguro, "Discovery of Stimulus Response Function by Complexation," Chemical Engineering, 2001, Vol. 46, no. 10, pp. 20-24
[Problems to be solved by the invention]
The above-described IPMC actuator has been applied to active catheters and small robots that imitate the movements of living bodies so far, and is expected as a practical soft actuator. However, in the above-described IPMC actuator, only one bending motion can be performed with one film, and the force to be generated as the actuator is reduced.
[0011]
Therefore, when the voltage applied to the IPMC actuator is increased, the generated force is increased, but there is a problem that the polymer film must be operated within a range that does not cause electrolysis.
[0012]
An object of the present invention is to convert a bending motion into a linear motion by a combination of films constituting a polymer actuator, thereby increasing displacement as an actuator and increasing a force generated as an actuator. A motion artificial muscle actuator is provided.
[0013]
Further, another object of the present invention is to realize an efficient motion by a combination of a linear motion by energization and a release by non-energization in application to a robot, without using a mechanical structure. Another object of the present invention is to provide a linear motion artificial muscle actuator capable of realizing an opening operation by the flexibility of a polymer actuator.
[0014]
Still another object of the present invention is to provide a method of manufacturing a linear motion artificial muscle actuator capable of easily manufacturing a linear motion artificial muscle actuator composed of a combination of membranes capable of achieving the above-described objects.
[0015]
[Means for Solving the Problems]
In order to solve the above-mentioned problems and achieve the above object, a linear motion artificial muscle actuator according to the invention of claim 1 is a linear motion artificial muscle actuator, wherein a pair of ion-conductive thin resin films are formed in a longitudinal direction. A pair of polymer actuators connected in series in the direction and the pair of polymer actuators are arranged in parallel in the longitudinal direction, and both ends of the pair of polymer actuators are connected in an insulated state. And a pair of connecting means, wherein when the pair of polymer actuators are energized, at least the thin resin film adjacent to the longitudinal direction is bent in the longitudinal direction.
[0016]
According to a second aspect of the present invention, in the first aspect of the invention, the pair of polymer actuators have a structure in which the pair of thin resin films are connected by a thin resin film for connection having ionic conductivity. Is also good.
[0017]
A linear motion artificial muscle actuator according to a third aspect of the present invention is a linear motion artificial muscle actuator, wherein m (m is a natural number of 2 or more) thin resin films having ion conductivity are connected in series in the longitudinal direction. N (n is a natural number of 2 or more) polymer actuators in which the thin resin films are connected to each other by a connecting thin resin film having ionic conductivity in the longitudinal direction; Pieces of polymer actuators are arranged in parallel with respect to the longitudinal direction, and for each of two polymer actuators adjacent to each other in the longitudinal direction, the thin resin films facing each other are insulated at a central portion in the longitudinal direction. And a connecting means for connecting to each of the polymer actuators, wherein when the respective polymer actuators are energized, at least the thin resin film adjacent to the longitudinal direction is bent in the longitudinal direction.
[0018]
According to a fourth aspect of the present invention, in the third aspect of the present invention, one and the other connecting thin films in the longitudinal direction are combined with respect to the combination of the two adjacent polymer actuators arranged adjacent to each other in the longitudinal direction. It is also possible to displace the positional relationship between the resin films.
[0019]
Further, a linear motion artificial muscle actuator according to the invention of claim 5 is a linear motion artificial muscle actuator, wherein a pair of polymers formed by connecting a pair of thin resin films having ionic conductivity in series in a longitudinal direction. An actuator, a pair of polymer actuators arranged in parallel in a longitudinal direction, a pair of connection means for connecting both ends of the pair of polymer actuators in an insulated state, and the pair of polymer actuators And an energizing means for energizing the thin resin film adjacent at least in the longitudinal direction so as to bend in the longitudinal direction when energized.
[0020]
According to a sixth aspect of the present invention, in the fifth aspect of the present invention, the energizing means may have different polarities between the outer surface and the inner surface of the pair of polymer actuators.
[0021]
According to a seventh aspect of the present invention, in the sixth aspect of the invention, the energizing means may have an outer surface of the pair of polymer actuators as a positive pole and an inner surface as a negative pole.
[0022]
The linear motion artificial muscle actuator according to the invention of claim 8 is a linear motion artificial muscle actuator, wherein m (m is a natural number of 2 or more) thin resin films having ion conductivity are serially connected in the longitudinal direction. N (n is a natural number of 2 or more) polymer actuators in which the thin resin films are connected to each other by a connecting thin resin film having ionic conductivity in the longitudinal direction; Pieces of polymer actuators are arranged in parallel with respect to the longitudinal direction, and for each of two polymer actuators adjacent to each other in the longitudinal direction, the thin resin films facing each other are insulated at a central portion in the longitudinal direction. Connecting means for connecting to each of the polymer actuators, and energizing means for energizing at least the thin resin film adjacent to at least the longitudinal direction so as to bend in the longitudinal direction when the polymer actuators are energized. Characterized by comprising a.
[0023]
According to a ninth aspect of the present invention, in the eighth aspect of the present invention, the energizing means may have different polarities between an outer surface and an inner surface for each of the two adjacent polymer actuators.
[0024]
According to a tenth aspect of the present invention, in the ninth aspect of the present invention, the energizing means may have a positive pole on the outer surface and a negative pole on the inner surface for each of the two adjacent polymer actuators.
[0025]
According to an eleventh aspect of the present invention, in the invention of the eighth, ninth, or tenth aspect, a combination of the two adjacent polymer actuators arranged adjacent to each other in the longitudinal direction is one and the other in the longitudinal direction. The thin resin films for connection may be arranged so as to be shifted from each other.
[0026]
A method for manufacturing a linear motion artificial muscle actuator according to a twelfth aspect of the present invention is a method for manufacturing a linear motion artificial muscle actuator, wherein a plurality of first thin resin films each having a rectangular shape and a first thickness are formed. The plurality of first thin resin films arranged in one direction are arranged at two steps in the one direction, and the second thin resin films arranged in the one direction are rectangular, and the second thin resin films are thinner than the first thickness. A plurality of second thin resin films having a thickness of 2 are sandwiched at the edge portion between the two first-stage thin resin films vertically overlapping with each other in the one direction, and are joined by press working in the sandwiched state; The method includes a step of plating the joined body.
[0027]
According to a thirteenth aspect, in the twelfth aspect, the linear motion artificial muscle actuator may be cut at a predetermined width in a direction orthogonal to the one direction.
[0028]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
[0029]
First, the principle will be described. FIG. 1 is a schematic diagram illustrating the principle of a linear motion artificial muscle actuator according to an embodiment of the present invention. In FIGS. 1A and 1B, reference numeral 1 denotes a linear motion artificial muscle actuator.
[0030]
The linear motion artificial muscle actuator 1 includes, for example, four elements 2a, 2b, 2c, and 2d made of an IPMC film and a pair of elements 2a and 2b that are arranged at a fixed distance in the longitudinal direction. ), A pair of flexible members 3a, 3b joined to another pair of elements 2c, 2d, and a pair of two-stage elements 2c, 2d and a pair of elements 2a, 2b in the longitudinal direction. And insulating members 4a and 4b, which are respectively joined. The above-mentioned flexible members 3a and 3b are not essential components. That is, since the first-stage and second-stage elements are not short-circuited in the state of an electric field, they may be connected so as to be in direct contact with each other, or may be sandwiched by clip means.
[0031]
The IPMC film has a structure in which a noble metal such as gold or platinum is joined to both surfaces of a fluorine-based ion exchange resin film by an electroless plating method. An IPMC film obtained by plating Naflon (registered trademark) 117 (DuPont) with about 10 [mg / cm ² ] of gold is suitable, but the present invention is not limited to this as long as it has a similar function. Absent. The flexible members 3a and 3b are made of, for example, a material having the same function or the same material as the elements 2a, 2b, 2c and 2d, and are preferably provided thinner than the elements 2a, 2b, 2c and 2d.
[0032]
In the state of FIG. 1A, an electric field is applied to the pair of elements 2a and 2b and the other pair of elements 2c and 2d such that the outside has a plus (+) pole and the inside has a minus (-) pole. As shown in FIG. 3B, the elements 2a, 2b, 2c, and 2d are bent so as to be warped outward. Due to this bending, the linear motion artificial muscle actuator 1 is reduced in the longitudinal direction by a distance S, for example, from the state before the electric field is applied (FIG. 1A) (FIG. 1B). At this time, the flexible members 3a, 3a constituting the joining portion play a role of a free joint, and the elements 2a, 2b, 2c, 2d can contract with the properties of the IPMC film.
[0033]
Here, characteristics of the linear motion artificial muscle actuator 1 will be described. FIG. 2 is a schematic configuration diagram showing an experimental example for explaining the characteristics of the linear motion artificial muscle actuator according to the present embodiment, and 100 indicates an experimental apparatus.
[0034]
The experimental apparatus 100 includes, for example, a water tank 101, a support unit 102, a moving table 103, a load unit 104, a laser displacement measuring device 106, a computer 107, and the like.
[0035]
The water tank 101 stores water up to a predetermined water level. The support part 102 is fixed to the water tank 101 and supports one end in the longitudinal direction of the linear motion artificial muscle actuator 1. The moving table 103 supports the other end of the linear motion artificial muscle actuator 1 in the longitudinal direction and floats on the water tank 101. The load unit 104 connects one end of the wire to the moving base 103 and applies a constant load to the other end. The laser displacement measuring device 106 measures the displacement of the linear motion artificial muscle actuator 1 in the longitudinal direction with respect to the index 105 placed on the movable table 103. The computer 107 applies an electric field to the linear motion artificial muscle actuator 1 to cause the linear motion artificial muscle actuator 1 to bend in the longitudinal direction, obtains displacement position information from the laser displacement measuring device 106, and analyzes the characteristics of the linear motion artificial muscle actuator 1. .
[0036]
Here, an experimental example regarding the response when a step voltage or a step-like load is applied will be described. FIG. 3 is a graph showing an example of an experimental result of a step response to an input voltage in the present embodiment. FIGS. 4 and 5 are graphs showing an example of an experimental result of a step response to a load in the present embodiment. .
[0037]
First, a change in response to a voltage value will be described with reference to FIG. With no load, the voltage value is changed in the order of 1.5, 2.0, and 2.5 [V], and a step input is applied to measure the displacement and the current value. It can be confirmed that when the input voltage is increased, the peak value of the displacement is also increased.
[0038]
When a voltage is applied, the elements 2a, 2b, 2c, 2d (IPMC films) bend to the positive (+) pole side at high speed. Further, it can be confirmed that a large current flows at the moment when the voltage is applied, and thereafter, the current attenuates exponentially. It can be confirmed that the peak value of the current increases as the input voltage increases.
[0039]
Next, the response change to the load will be described with reference to FIGS. In FIG. 4, a step input of 2.5 [V] is applied while the load is being applied. It can be confirmed that when the load increases, the displacement decreases. The current value hardly changes even when a load is applied.
[0040]
In FIG. 5, a load is applied at time 1 [s] with an input voltage of 1.5 [V] applied. It can be confirmed that when the load increases, the displacement increases almost in proportion.
[0041]
Thus, the linear motion artificial muscle actuator 1 can adjust the displacement according to an appropriate input voltage.
[0042]
Next, an application example based on the principle of the linear motion artificial muscle actuator 1 shown in FIG. 1 will be described. FIG. 6 is a schematic configuration diagram showing one application example of the linear motion artificial muscle actuator according to the present embodiment. In FIG. 6, reference numeral 200 denotes a linear motion artificial muscle actuator according to the application example.
[0043]
The linear motion artificial muscle actuator 200 has, for example, a structure in which four linear motion artificial muscle actuators are connected in the longitudinal direction, four rows are provided, and both ends are fixed to support members 201 and 202, respectively. In the present embodiment, four linear motion artificial muscle actuators are provided per row as an example, and the four rows are provided. However, the present invention is not limited to this, and its application, that is, the linear motion artificial muscle actuator is used. The number can be set arbitrarily according to the place where the is provided and the required force.
[0044]
Further, in the arrangement of the linear motion artificial muscle actuator 1, as shown in FIG. 6, if the linear motion artificial muscle actuators are arranged so as to be shifted by, for example, about half in relation to the adjacent rows, the flexible material accompanying the expansion and contraction of each linear motion artificial muscle actuator The bulge in the w2 direction of the portion can be absorbed in the region of the insulating member portion. Thus, there is no interference between the linear motion artificial muscle actuators in the w2 direction, and the overall space efficiency can be improved. Note that a flexible material need not be applied to the flexible material portion. That is, as already described in the description of FIG. 1, since the first-stage and second-stage elements are not short-circuited in the state of an electric field, they are joined so as to be in direct contact with each other, or are clamped by clip means. Is also good.
[0045]
In this way, by employing a combination structure in which the linear motion artificial muscle actuators 1 are connected in series and in parallel, it is possible to change the expansion / contraction ratio in the W1 direction or to change the force at the time of expansion / contraction in the W1 direction. .
[0046]
Next, an example of application to a walking robot will be described. FIG. 7 is an external perspective view illustrating an application example according to the present embodiment, and FIG. 8 is a diagram illustrating a hip joint according to the application example according to the present embodiment.
[0047]
FIG. 7 shows a walking robot 300. The walking robot 300 is intended for a small compass-type biped walking robot. The walking robot 300 has two inner and outer robots connected to each other and moves in synchronization. Here, only the motion in the two-dimensional plane (sagittal plane) is considered. In the simulation, it is assumed that the leg and the floor are point contacts, and that the ground contact with the floor is a completely inelastic collision. The walking robot 300 is a model that realizes passive walking, and can walk on a gentle slope without power.
[0048]
In the waist joints 301 and 302 of the walking robot 300, the linear motion artificial muscle actuator 1 described above is configured in the longitudinal direction by a number m (m is a natural number) connected in series and a number n in parallel (n is a natural number). A part is provided.
[0049]
It is assumed that the walking robot 300 is driven by its waist joints 301 and 302 to walk on a slope or flat ground. Driving of the waist joints 301 and 302 of the walking robot 300 is obtained by converting a contraction force into a waist joint torque Vh like a pulley, with a radius of r.
[0050]
In a general walking robot, a structure such as a clutch is incorporated in a joint part, so that it becomes structurally large. This is because the walking operation needs to be controlled by the clutch. On the other hand, according to the linear motion artificial muscle actuator according to the present embodiment, clutch control is not required because of its elasticity. In other words, when a human walks, there is a characteristic in which the joint part naturally extends with one leg standing on the ground and the other leg protruding forward like a pendulum. Can be obtained from the linear motion artificial muscle actuator.
[0051]
As described above, according to the present embodiment, by combining the IPMC film constituting the polymer actuator, the bending motion is converted into the linear motion to enhance the performance as the actuator, and the force generated as the actuator is reduced. It is possible to increase.
[0052]
In addition, in the application to walking robots, efficient motion is realized by a combination of linear motion when energized and open when de-energized, and in that case, the flexibility of the polymer actuator is reduced without disposing a mechanical structure. It is possible to realize the operation at the time of opening due to the nature.
[0053]
Next, a method of manufacturing a linear motion artificial muscle actuator according to the present embodiment will be described. FIG. 9 is a diagram illustrating a method of manufacturing a linear motion artificial muscle actuator according to the present embodiment.
[0054]
First, the rectangular IPMC films 401, 402, 403, and 404 having the first thickness are arranged at regular intervals in one direction (FIG. 9A), and the four arranged IPCM films are formed. The layers 401, 402, 403, and 404 are arranged in two layers in one direction like the combination of the IPMC films 401 and 408 and the combination of the IPCM films 402 and 409 (FIG. 9B).
[0055]
Then, the three IPMC films 405, 406, and 407 having a rectangular shape and a second thickness smaller than the first thickness are respectively sandwiched between overlapping edge portions of the IPCM films (FIGS. 9A and 9B). B)), the laminated intermediate members are joined by press working. Further, after plating the joined body, it is cut at a predetermined width in a direction X orthogonal to one direction (FIG. 9C).
[0056]
Two joined bodies obtained in this way are prepared and superimposed in two stages. Then, in a pair of joined bodies in which insulating members each having a rectangular shape and a third thickness are overlapped in two steps, for example, the longitudinal direction is perpendicular to the intermediate position between the IPMC films 405 and 406 and the intermediate position between the IPMC films 406 and 407. It may be attached as follows.
[0057]
By performing such a manufacturing process, the bonding operation between the IPMC films of the same material is simplified, and it becomes easy to manufacture a linear motion artificial muscle actuator having a connector whose part is thin. In addition, it is possible to realize driving (bending motion) only by wiring from one side of the linear motion artificial muscle actuator which is arranged in parallel and forms each row.
[0058]
【The invention's effect】
As described above, according to the present invention, it is possible to increase the performance as an actuator by converting a bending motion into a linear motion, and to increase the force generated as an actuator, by a combination of films constituting a polymer actuator. This provides an effect that a simple linear motion artificial muscle actuator can be provided.
[0059]
In addition, in application to robots, walking is realized by a combination of linear motion when energized and open when de-energized. The effect is that a linear motion artificial muscle actuator capable of realizing the above operation can be provided.
[0060]
Further, a method for manufacturing a linear motion artificial muscle actuator capable of easily manufacturing a linear motion artificial muscle actuator that converts a bending motion into a linear motion to enhance the capability as an actuator and enhances the force generated as an actuator. It has the effect that it can be provided.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram illustrating the principle of a linear motion artificial muscle actuator according to an embodiment of the present invention.
FIG. 2 is a schematic configuration diagram showing an experimental example for explaining the characteristics of the linear motion artificial muscle actuator according to the present embodiment.
FIG. 3 is a graph showing an example of an experimental result of a step response to an input voltage in the present embodiment.
FIG. 4 is a graph showing an example of an experimental result of a step response to a load in the present embodiment.
FIG. 5 is a graph showing an example of an experimental result of a step response to a load in the present embodiment.
FIG. 6 is a schematic configuration diagram showing an application example of a linear motion artificial muscle actuator according to the present embodiment.
FIG. 7 is an external perspective view showing an application example according to the embodiment.
FIG. 8 is a diagram illustrating a hip joint of an application example according to the present embodiment.
FIG. 9 is a diagram illustrating a method of manufacturing a linear motion artificial muscle actuator according to the present embodiment.
FIG. 10 is a diagram illustrating a conventional example.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Linear motion artificial muscle actuator 2a, 2b, 2c, 2d Element 3a, 3b Flexible material 4a, 4b Insulation member 100 Experimental device 101 Water tank 102 Supporting part 103 Moving table 104 Load part 105 Index 106 Laser displacement measuring instrument 107 Computer 200 Linear motion Artificial muscle actuators 201, 202 Support member 300 Walking robots 301, 302 Waist joints 401, 402, 403, 404, 405 IPMC films 406, 407, 408, 409 IPMC films

Claims (13)

A linear motion artificial muscle actuator,
A pair of polymer actuators formed by connecting a pair of thin resin films having ionic conductivity in series in the longitudinal direction,
A pair of connecting means for arranging the pair of polymer actuators in parallel in the longitudinal direction and connecting both ends of the pair of polymer actuators in an insulated state,
With
A linear motion artificial muscle actuator characterized in that when the pair of polymer actuators are energized, at least the thin resin film adjacent to the longitudinal direction is bent in the longitudinal direction. The linear motion artificial muscle actuator according to claim 1, wherein the pair of polymer actuators has a structure in which the pair of thin resin films are connected by a connection thin resin film having ionic conductivity. . A linear motion artificial muscle actuator,
M (m is a natural number of 2 or more) thin resin films having ionic conductivity are arranged in series in the longitudinal direction, and the thin resin films between the thin resin films have ionic conductivity in the longitudinal direction. N (n is a natural number of 2 or more) polymer actuators connected by a resin film,
The n polymer actuators are arranged in parallel with respect to the longitudinal direction, and for each of two polymer actuators adjacent to each other in the longitudinal direction, the thin resin films facing each other are arranged at a central portion in the longitudinal direction. Connecting means for connecting in an insulated state;
With
A linear motion artificial muscle actuator, wherein at least the thin resin film adjacent to the longitudinal direction is bent in the longitudinal direction when the respective polymer actuators are energized. The combination of the two adjacent polymer actuators adjacent to each other in the longitudinal direction is arranged so that the positional relationship between one and the other thin resin films for connection is shifted with respect to the longitudinal direction. The linear motion artificial muscle actuator according to claim 3. A linear motion artificial muscle actuator,
A pair of polymer actuators formed by connecting a pair of thin resin films having ionic conductivity in series in the longitudinal direction,
A pair of connecting means for arranging the pair of polymer actuators in parallel in the longitudinal direction and connecting both ends of the pair of polymer actuators in an insulated state,
When energizing the pair of polymer actuators, energizing means for energizing at least the thin resin film adjacent to at least the longitudinal direction so as to bend in the longitudinal direction,
A linear motion artificial muscle actuator comprising: 6. The linear motion artificial muscle actuator according to claim 5, wherein the energizing unit makes the outer surface and the inner surface of the pair of polymer actuators have different polarities. 7. The linear motion artificial muscle actuator according to claim 6, wherein the energizing means has a positive pole on an outer surface of the pair of polymer actuators and a negative pole on an inner surface. A linear motion artificial muscle actuator,
M (m is a natural number of 2 or more) thin resin films having ionic conductivity are arranged in series in the longitudinal direction, and the thin resin films between the thin resin films have ionic conductivity in the longitudinal direction. N (n is a natural number of 2 or more) polymer actuators connected by a resin film,
The n polymer actuators are arranged in parallel with respect to the longitudinal direction, and for each of two polymer actuators adjacent to each other in the longitudinal direction, the thin resin films facing each other are arranged at a central portion in the longitudinal direction. Connecting means for connecting in an insulated state;
When energizing each of the polymer actuators, energizing means for energizing at least the thin resin film adjacent to at least the longitudinal direction so as to bend in the longitudinal direction,
A linear motion artificial muscle actuator comprising: 9. The linear motion artificial muscle actuator according to claim 8, wherein the energizing unit changes the polarity of an outer surface and an inner surface of each of the two adjacent polymer actuators. 10. 10. The linear motion artificial muscle actuator according to claim 9, wherein the energizing means has a positive pole on the outer surface and a negative pole on the inner surface for each of the two adjacent polymer actuators. The combination of the two adjacent polymer actuators adjacent to each other in the longitudinal direction is arranged so that the positional relationship between one and the other thin resin films for connection is shifted with respect to the longitudinal direction. The linear motion artificial muscle actuator according to claim 8, 9 or 10. A method for manufacturing a linear motion artificial muscle actuator,
A plurality of first thin resin films each having a rectangular shape and a first thickness are arranged at regular intervals in one direction, and the arranged plurality of first thin resin films are aligned in the one direction by two. A plurality of second thin resin films each having a rectangular shape and a second thickness smaller than the first thickness, each of which is vertically arranged in the one direction; A method for manufacturing a linear motion artificial muscle actuator, comprising a step of sandwiching the thin resin film at an edge portion, joining the thin resin film by press working in the sandwiched state, and plating the joined body. The method for manufacturing a linear motion artificial muscle actuator according to claim 12, wherein the linear motion artificial muscle actuator is cut at a predetermined width in a direction orthogonal to the one direction.

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