JP2006288003A - Polymer linear actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a small-sized polymer linear actuator with a simple structure. <P>SOLUTION: The polymer linear actuator 100 which has counter electrodes formed in an ion exchange resin 120 in a moisture state or an ion containing fluid state, wherein voltage is applied between the counter electrodes to deform the shape of the ion exchange resin 120. The cross-sectional shape of the ion exchange resin 120 is a hollow shape in linear symmetry with respect to a drive shaft A-A' in a direction where the polymer linear actuator 100 is deformed. The polymer linear actuator comprises one or more pairs of thin parts 140, 141 which are formed at positions in linear symmetry with respect to the drive shaft A-A' and having rigidity different from that of the surrounding and an outer wall electrode 130 and an inner wall electrode 131 each formed on a hollow inner wall part and outer wall part. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a polymer linear actuator, and more particularly to a polymer linear actuator using an ion exchange resin.

  In recent years, in the fields of medical equipment, industrial robots, micromachines, etc., actuators that apply a wide variety of operating principles have been researched and developed. One of the actuators attracting attention in these circumstances is a polymer actuator. The polymer actuator has a configuration in which an electrode is formed on the surface of a water-containing ion exchange resin and bent by applying a voltage. The polymer actuator is called an artificial muscle because it has a flexible driving mode. The polymer actuator is expected to be applied in various fields in the future.

  The deformation mode of the polymer actuator is a bending deformation based on the basic operation principle. Many proposals have been made such as using a polymer actuator as an active catheter or an artificial organ taking advantage of such characteristics of bending deformation.

  Here, depending on the application target of the actuator, bending deformation may cause inconvenience. For example, it may be desired to use a so-called linear actuator in which the direction in which the movable member is driven is uniaxial due to the deformation of the actuator.

  For example, Patent Document 1 discloses a configuration that converts a bending motion of a polymer actuator into a linear motion. According to Patent Document 1, a pair of opposed polymer actuators are arranged via an insulating member. Thereby, the structure of the polymer linear actuator which carries out a linear drive is implement | achieved.

JP 2004-314219 A

  For example, actuators used in the field of micromachines and the like are required to have specifications such as a size of several millimeters and a driving amount of several hundred micrometers. However, the actuator proposed in Patent Document 1 has a complicated configuration. For this reason, with the configuration disclosed in Patent Document 1, it is difficult to manufacture a small linear actuator.

  In Patent Document 1, the actuators facing each other need to have exactly the same configuration. However, in reality, it is difficult to make the actuators facing each other have the same configuration due to a manufacturing error, an adhesion error with an insulating member, and the like. When the opposing actuators are not the same configuration, the entire actuator is not linearly driven, that is, a linear motion, but a bending motion whose trajectory is curved is generated. For this reason, with the configuration disclosed in Patent Document 1, it is difficult to easily obtain linear motion.

  The present invention has been made in view of the above, and an object thereof is to provide a small polymer linear actuator with a simple configuration.

  In order to solve the above-described problems and achieve the object, according to the present invention, a counter electrode formed on an ion exchange resin in a water-containing state or an ion-containing fluid state is provided, and a voltage is applied between the counter electrodes. In the polymer linear actuator that deforms the shape of the ion exchange resin, the cross-sectional shape of the ion exchange resin is a hollow shape that is line-symmetric with respect to the drive axis along the direction in which the polymer linear actuator deforms, A polymer linear, characterized in that it has a pair of one or more stiffness changing portions formed at line symmetrical positions and having a stiffness different from the surrounding stiffness, and electrodes formed respectively on the hollow inner wall portion and outer wall portion. An actuator can be provided.

  Moreover, according to the preferable aspect of this invention, it is desirable for the cross-sectional shape of ion exchange resin to be a hollow cylindrical shape or a hollow polygonal column shape.

  Moreover, according to the preferable aspect of this invention, it is desirable that a pair of rigidity change part pair has a substantially identical shape, respectively.

  Moreover, according to the preferable aspect of this invention, the support point which connects a polymer linear actuator and a fixed member, and the connection point which connects a polymer linear actuator and a movable member were provided on the drive shaft. Is desirable.

  Moreover, according to the preferable aspect of this invention, it is desirable that a pair of rigidity change part pair is a thin part provided in the ion exchange resin.

  Moreover, according to the preferable aspect of this invention, it is desirable that a pair or more of rigidity change part pairs are the thick parts provided in the ion exchange resin.

  Moreover, according to the preferable aspect of this invention, it is desirable that a pair or more of rigidity change part pairs are the notches provided in the ion exchange resin.

  According to a preferred aspect of the present invention, the pressure member further includes a pressure arm electrically connected to the electrode formed on the inner wall portion or the electrode formed on the outer wall portion on the fixing member, By contacting the polymer linear actuator, the electrode formed on the inner wall portion and the electrode formed on the outer wall portion are electrically connected to each other via the pressure arm, and the polymer linear actuator is fixed. Is desirable.

  According to a preferred aspect of the present invention, the electrode formed on the inner wall portion or the electrode formed on the outer wall portion, the lead-out electrode formed at a position separated from the electrode, and the electrode or outer wall formed on the inner wall portion An electrode formed on the portion and a connection electrode formed on the side cross-sectional portion of the ion-exchange resin, and the inner wall portion through the extraction electrode and the connection electrode It is desirable to establish electrical connection with the electrode formed on the outer wall or the electrode formed on the outer wall.

  The polymer linear actuator according to the present invention has a counter electrode formed on an ion exchange resin in a water-containing state or an ion-containing fluid state. By applying a voltage between the counter electrodes, the shape of the ion exchange resin is deformed. The cross-sectional shape of the ion exchange resin is a hollow shape that is line-symmetric with respect to the drive axis along the direction in which the polymer linear actuator deforms. A pair of one or more rigidity changing portions having a rigidity different from the surrounding rigidity is formed at a position symmetrical with respect to the drive shaft. And it has the electrode respectively formed in the hollow-shaped inner wall part and the outer wall part. With such a configuration, a voltage is applied between the electrode formed on the inner wall portion and the electrode formed on the outer wall portion. By applying voltage, the cation and water molecules in the ion exchange resin move. At this time, the rigidity changing portion is different in rigidity compared to other positions. For this reason, in the vicinity of the stiffness changing portion, the occurrence of distortion, in other words, the stress distribution is different from other positions. In addition, the stiffness changing portion pair is formed at a line-symmetric position with respect to the drive shaft. As a result, in a hollow ion-exchange resin that is line-symmetric with respect to the drive axis, distortion of the same magnitude is concentrated at a position that is line-symmetric with respect to the drive axis. As a result, the polymer linear actuator is deformed along the drive shaft. As a result, a small polymer linear actuator can be obtained with a simple configuration.

  Hereinafter, embodiments of the polymer linear actuator according to the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited by this Example.

  FIG. 1 shows a perspective configuration of a polymer linear actuator according to Embodiment 1 of the present invention. As shown in FIG. 1, the polymer linear actuator 100 has a water-containing ion exchange resin 120 formed into a hollow cylindrical shape. Moreover, the ion exchange resin 120 can also be comprised with the material of an ion-containing fluid state.

  An outer wall electrode 130 is formed on the outer wall portion (the outer peripheral portion of the hollow cylinder) of the ion exchange resin 120. Further, an inner wall electrode 131 is formed on the inner wall portion of the ion exchange resin 120 (the inner peripheral portion of the hollow cylinder). Furthermore, thin portions 140 and 141 having the same shape are formed in the ion exchange resin 120. The thin portions 140 and 141 correspond to the stiffness changing portion pair.

  FIG. 2 shows a perspective configuration in a state in which a power source for driving the polymer linear actuator 100 is connected. A driving variable power source 150 is connected between the outer wall electrode 130 and the inner wall electrode 131 of the polymer linear actuator 100. The driving variable power supply 150 applies an arbitrary voltage between the outer wall electrode 130 and the inner wall electrode 131.

  FIG. 3 shows a cross-sectional configuration of the polymer linear actuator 100 as viewed from the side. In FIG. 3, the direction in which the shape of the polymer linear actuator 100 changes, that is, the drive direction is shown as a drive axis A-A ′. The cross-sectional shape of the ion exchange resin 120 is a hollow cylindrical shape that is axisymmetric with respect to the drive axis A-A ′ along the direction in which the polymer linear actuator 100 is deformed. Further, the thin portion 140 and the thin portion 141 are formed at positions symmetrical with respect to the drive axis A-A ′. The thin-walled portions 140 and 141 have a different stiffness from the surrounding stiffness of the thin-walled portions 140 and 141, for example, a smaller (lower) stiffness than the surrounding stiffness.

  The lower end portion in FIG. 3 of the outer periphery of the polymer linear actuator 100 is supported and fixed by a fixing member 180 and a support point 160a. In addition, the structure which supports and fixes the lower end part in FIG. 3 of the inner peripheral part of the polymer linear actuator 100 with the fixing member (not shown) and the support point 160b may be sufficient.

  Further, the upper end portion in FIG. 3 of the outer peripheral portion of the polymer linear actuator 100 is in contact with the movable member 190 at the connection point 161a. The upper end portion in FIG. 3 of the inner periphery of the polymer linear actuator 100 may be in contact with a movable member (not shown) at a connection point 161b. The movable member 190 is an object driven by the polymer linear actuator 100.

  The driving variable power supply 150 applies a voltage between the outer wall electrode 130 and the inner wall electrode 131. Cations move in the ion exchange resin 120 in accordance with the applied voltage. At the same time, water molecules that are polar molecules move in the ion exchange resin 120 in accordance with the movement of the cations.

  Here, a case where a negative voltage is applied to the outer wall electrode 130 and a positive voltage is applied to the inner wall electrode 131 is considered. In this case, cations and water molecules move to the outer wall electrode 130 side. Thereby, a swelling difference arises in an outer wall part and an inner wall part. For example, cations and water molecules are abundant on the outer wall electrode 130 side. Further, cations and water molecules are depleted on the inner wall electrode 131 side. For this reason, it extends to the outer wall side and shrinks to the inner wall side.

  Here, a case where the ion exchange resin 120 has a simple uniform hollow cylindrical shape, that is, a case where the thin portions 140 and 141 are not formed is considered. At this time, even if the outer wall portion and the inner wall portion are stretched or contracted, all the strains generated on the inner and outer walls are equal on the circumference. For this reason, finally, only distortion in the radial direction occurs. As a result, the overall shape of the hollow cylindrical shape is hardly deformed and remains a constant shape.

  On the other hand, in this embodiment, thin portions 140 and 141 are formed in the ion exchange resin 120. As a result, a distribution in which strain is intensively generated at the positions of the thin wall portions 140 and 141 in the outer wall portion is generated. Further, the strain distribution is line symmetric with respect to the drive axis A-A ′. Furthermore, the thin part 140 and the thin part 141 have the same shape. As a result, an equivalent distortion occurs in the thin portion 140 and the thin portion 141. In this way, strains of the same magnitude are concentrated on the thin-walled portions 140 and 141, and strain in the rotational direction occurs in addition to the radial direction. For this reason, the shape of the ion exchange resin 120 changes greatly.

  FIG. 4 shows how the polymer linear actuator 100 is deformed. In FIG. 4, the state before voltage application (before deformation) is indicated by a broken line, and the state after voltage application (after deformation) is indicated by a solid line. The polymer linear actuator 100 is deformed in the direction of contraction by the deformation amount d along the drive axis A-A ′. Thus, the polymer linear actuator 100 operates as a linear actuator that expands and contracts in the direction along the drive axis A-A ′.

  Consider a case where a positive voltage is applied to the outer wall electrode 130 and a negative voltage is applied to the inner wall electrode 131. In this case, cations and water molecules move to the inner wall electrode 131 side. Thereby, a swelling difference arises in an outer wall part and an inner wall part. For example, cations and water molecules are depleted on the outer wall electrode 130 side. Further, the cation and water molecules are abundant on the inner wall electrode 131 side. For this reason, it shrinks to the outer wall side, and elongation occurs on the inner wall side. As a result, the polymer linear actuator 100 is deformed in a direction extending along the drive axis A-A ′.

  Moreover, the amount of movement of cations and water molecules corresponds to the applied voltage. Therefore, the deformation amount d of the polymer linear actuator 100 can be controlled by controlling the applied voltage by the driving variable power source 150.

As a method for controlling the applied voltage, for example, the following methods (1) to (4) can be used.
(1) A constant voltage control method for changing the voltage value of a constant voltage,
(2) a constant current control method for changing the current value of a constant current;
(3) PWM (Pulse Width Modulation) control method for changing the duty ratio of the rectangular wave;
(4) Offset AC control in which the offset value and the periodic waveform are superimposed to change the peak value. In addition, it is not restricted to these methods, Other control methods can also be used.

(Modification)
FIG. 5 shows a cross-sectional configuration of the polymer linear actuator 200 according to the second embodiment of the present invention as viewed from the side. The same parts as those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.

  The thin portion 240 and the thin portion 241 are formed at positions that are line-symmetric with respect to the drive axis A-A ′. Further, the thin portion 242 and the thin portion 243 are formed at positions that are line-symmetric with respect to the drive axis A-A ′. Even in such a configuration, the polymer linear actuator 200 is deformed in the direction along the drive axis A-A ′ by the same principle as in the first embodiment. For this reason, the polymer linear actuator 200 operates as a linear actuator that expands and contracts in the direction along the drive axis A-A ′.

  Further, in order to deepen the understanding of the present invention, two configuration examples of an actuator that is not deformed in the direction of a desired drive shaft will be described with reference to FIGS. FIG. 6 shows an example in which linear driving is not performed in a direction along a desired driving axis A-A ′. The thin portions 141 and 142 are formed at positions symmetrical with respect to the axis B-B ′. For this reason, the polymer linear actuator 100 is deformed in the direction along the axis B-B ′. However, it does not deform linearly in the direction along the desired drive axis A-A ', and changes off-axis. Thus, the configuration shown in FIG. 6 is an example that functions as a linear actuator but does not deform linearly in the direction along the desired drive axis A-A ′.

  FIG. 7 shows another example in which the linear drive is not performed in the direction along the desired drive axis A-A ′. The thin portion 340 and the thin portion 341 are formed at positions that are line-symmetric with respect to the drive axis A-A ′. However, the shape of the thin portion 340 and the shape of the thin portion 341 are not the same but different. For this reason, the magnitude of distortion generated in the thin portion 340 is different from the magnitude of distortion generated in the thin portion 341. For this reason, the polymer linear actuator 300 does not deform linearly in the direction along the desired drive axis A-A ′ and changes off-axis.

  The material contained in the ion exchange resin 120 is not limited to water. For example, a liquid such as an ionic fluid may be used as long as it has a polar molecular structure.

  Next, the configuration of three different electrical connections of the polymer linear actuator 100 will be described with reference to FIG. 8, FIG. 9, and FIG. FIG. 8 shows a first configuration example of electrical connection of the polymer linear actuator 100. An outer wall electrode lead electrode 172, an inner wall electrode lead electrode 171, and a pressure arm 170 are formed on the fixing member 180. The outer wall electrode lead electrode 172 is formed so as to be electrically connected to the outer wall electrode 130. The inner wall electrode lead electrode 171 is configured to be electrically connected to the inner wall electrode 131. The pressure arm 170 is configured to connect the inner wall electrode 131 and the inner wall electrode lead electrode 171.

  The pressure arm 170 is made of an elastic metal plate. The pressure arm 170 fixes the polymer linear actuator 100 by applying pressure to the inner wall portion. As a result, the outer wall electrode 130 is pressed against the outer wall electrode lead electrode 172. Therefore, electrical connection between the outer wall electrode 130 and the outer wall electrode lead electrode 172 can be established.

  Further, the inner wall electrode 131 can be electrically connected to the inner wall electrode lead electrode 171 via the pressure arm 170. Further, the polymer linear actuator 100 can be fixed to the fixing member 180 by the pressure arm 170.

  FIG. 9 shows a second configuration example of electrical connection of the polymer linear actuator 100. The rod-shaped fixing member 280 is disposed so as to penetrate the hollow portion of the polymer linear actuator 100. The pressure arm 270 fixes the polymer linear actuator 100 by pressing the outer wall portion. In addition, an inner wall electrode lead electrode 271 and an outer wall electrode lead electrode 272 are formed. The configuration of the other electrodes is the same as that described with reference to FIG.

  FIG. 10 shows a third configuration example of electrical connection of the polymer linear actuator 100. An outer wall electrode lead electrode 372 is formed on the fixing member 180. The outer wall electrode lead electrode 372 is formed so as to be electrically connected to the outer wall electrode 130. In addition, a lead electrode 371 for inner wall electrodes is formed on the movable member (not shown in FIG. 10). The inner wall electrode lead electrode 371 is formed so as to be electrically connected to the inner wall electrode 131.

  The outer wall electrode 130 is divided by a groove 374 in the vicinity of a connection point with the inner wall electrode lead electrode 371. In FIG. 10, an inner wall electrode extraction electrode 375 is formed in the divided portion located in the upper portion of the hollow cylindrical ion exchange resin 120. In addition, an inner wall electrode connection electrode 373 is formed on a cross-sectional portion of the side surface of the ion exchange resin 120. The inner wall electrode connecting electrode 373 connects the inner wall electrode 131 and the inner wall electrode leading electrode 375.

  Electrical connection can be established between the outer wall electrode 130 and the outer wall electrode lead electrode 372 at the support point 160a with the fixing member 180 using a conductive adhesive. Similarly, using a conductive adhesive, electrical connection between the inner wall electrode lead electrode 375 and the inner wall electrode lead electrode 371 can be established at a connection point with a movable member (not shown). At the same time, the polymer linear actuator 100 can be fixed to the fixing member 180.

  In the configuration examples of the three electrical connections described above, the electrical connection points between the outer wall electrode 130 and the inner wall electrode 131 can be set at the support points 160a and 160b and the connection points 161a and 161b. For this reason, electrical connection can be established with a simple configuration. The fixed members 180 and 280, the movable member 190, the support points 160a and 160b, and the connection points 161a and 161b are set for convenience. The action of the fixed member is the same as the action of the movable member. For this reason, you may exchange a fixed member and a movable member mutually.

(Production method)
Next, a method for manufacturing the polymer linear actuator 100 will be described. FIG. 11 is a diagram illustrating a manufacturing procedure of the polymer linear actuator 100. In FIG. 11A, the ion exchange resin 120 is formed into a hollow cylindrical tube shape. In FIG. 11B, the thin portion 140 and the thin portion 141 are formed on the outer wall portion of the ion exchange resin 120 using cutting or laser processing. In FIG. 11C, an outer wall electrode 130 is formed on the outer wall portion of the ion exchange resin 120 and an inner wall electrode 131 is formed on the inner wall portion by plating or the like. And in FIG.11 (d), it cut | disconnects to required thickness. Thereby, the polymer linear actuator 100 can be easily manufactured in large quantities and at low cost.

  FIG. 12 shows a cross-sectional configuration of the polymer linear actuator 400 according to the second embodiment of the present invention as viewed from the side. The same parts as those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted. In FIG. 12, the direction in which the shape of the polymer linear actuator 400 changes, that is, the drive direction is shown as a drive axis A-A ′. The cross-sectional shape of the ion exchange resin 120 is a hollow cylindrical shape that is axisymmetric with respect to the drive axis A-A ′. Further, the thick part 440 and the thick part 441 are formed at positions symmetrical with respect to the drive axis A-A ′. The thick portions 440 and 441 have a rigidity different from the surrounding rigidity of the thick portions 440 and 441, for example, a rigidity larger (higher) than the surrounding rigidity. Even in such a configuration, the polymer linear actuator 400 is deformed in the direction along the drive axis A-A ′ by the same principle as in the first embodiment. For this reason, the polymer linear actuator 400 operates as a linear actuator that expands and contracts in the direction along the drive axis A-A ′.

(First modification)
FIG. 13 shows a cross-sectional configuration of a polymer linear actuator 500 according to a first modification of the present embodiment as viewed from the side. In FIG. 13, the direction in which the shape of the polymer linear actuator 500 changes, that is, the drive direction is shown as a drive axis AA ′. The cross-sectional shape of the ion exchange resin 120 is a hollow cylindrical shape that is axisymmetric with respect to the drive axis AA ′.

  The thin portion 540 and the thin portion 541 are formed at positions symmetrical with respect to the drive axis A-A ′ of the outer wall portion. The thin wall portion 542 and the thin wall portion 543 are formed at positions symmetrical with respect to the drive axis A-A ′ of the inner wall portion. The thin-walled portions 540, 541, 542, and 543 have rigidity different from the surrounding rigidity. Even in such a configuration, the polymer linear actuator 500 is deformed in the direction along the drive axis A-A ′ by the same principle as in the first embodiment. For this reason, the polymer linear actuator 500 operates as a linear actuator that expands and contracts in the direction along the drive axis A-A ′.

(Second modification)
FIG. 14 shows a cross-sectional configuration of a polymer linear actuator 600 according to a second modification of the present embodiment as viewed from the side. In FIG. 14, the direction in which the shape of the polymer linear actuator 600 changes, that is, the drive direction is shown as a drive axis AA ′. The cross-sectional shape of the ion exchange resin 120 is a hollow cylindrical shape that is axisymmetric with respect to the drive axis AA ′.

  The planar thin portion 640 and the planar thin portion 641 are formed at positions symmetrical with respect to the drive axis A-A ′ of the outer wall portion. Each of the thin portions 640 and 641 has a rigidity different from the surrounding rigidity. Even in such a configuration, the polymer linear actuator 600 is deformed in the direction along the drive axis A-A ′ by the same principle as in the first embodiment. For this reason, the polymer linear actuator 600 operates as a linear actuator that expands and contracts in the direction along the drive axis A-A ′.

(Third Modification)
FIG. 15 shows a cross-sectional configuration of a polymer linear actuator 700 according to a third modification of the present embodiment as viewed from the side. In FIG. 15, the direction in which the shape of the polymer linear actuator 700 changes, that is, the drive direction is shown as a drive axis AA ′. The cross-sectional shape of the ion exchange resin 120 is a hollow polygonal column shape that is axisymmetric with respect to the drive axis AA ′, for example, a hollow octagonal shape.

  The thin portion 740 and the thin portion 741 are formed at positions symmetrical with respect to the drive axis A-A ′ of the outer wall portion. The thin-walled portions 740 and 741 have rigidity different from the surrounding rigidity. Even in such a configuration, the polymer linear actuator 700 is deformed in the direction along the drive axis A-A ′ by the same principle as in the first embodiment. For this reason, the polymer linear actuator 700 operates as a linear actuator that expands and contracts in the direction along the drive axis A-A ′.

(Fourth modification)
FIG. 16A shows a cross-sectional configuration of a polymer linear actuator 800 according to a fourth modification of the present embodiment as viewed from the side. In FIG. 16A, the direction in which the shape of the polymer linear actuator 800 changes, that is, the drive direction is shown as a drive axis AA ′. The cross-sectional shape of the ion exchange resin 120 is a hollow cylindrical shape that is axisymmetric with respect to the drive axis AA ′.

  As shown in FIG. 16B, the notch portion 840 and the notch portion 841 are formed at positions symmetrical with respect to the drive axis A-A ′ of the outer wall portion. The cutout portion 840 and the cutout portion 841 each have a rigidity different from the surrounding rigidity, for example, a rigidity that is smaller (lower) than the surrounding rigidity. Even in such a configuration, the polymer linear actuator 800 is deformed in the direction along the drive axis A-A ′ by the same principle as in the first embodiment. Therefore, the polymer linear actuator 800 operates as a linear actuator that expands and contracts in the direction along the drive axis A-A ′.

  The polymer linear actuator according to the present invention is not limited to the configurations described in the above embodiments, and includes combinations of these configurations and configurations having similar effects. For example, the cross-sectional shape of the ion exchange resin 120 may be an elliptical shape or a free curve shape as long as it is line-symmetric with respect to the drive axis A-A ′. In addition, the rigidity changing portion pair is not limited to a shape different from the surrounding. For example, the material constituting the ion exchange resin 120 may have a different density distribution. Specifically, a portion such as a hollow hole can be provided in a part of the material constituting the ion exchange resin 120 to achieve a dense density distribution. Furthermore, the number of the rigidity change part pairs may be any number as long as it is one or more. As described above, the present invention can take various application examples without departing from the spirit of the present invention.

  As described above, the polymer linear actuator according to the present invention has a simple configuration and is suitable for a small linear actuator.

It is a figure which shows the isometric view structure of the polymer linear actuator which concerns on Example 1 of this invention. It is another figure which shows the perspective structure of the polymer linear actuator of Example 1. FIG. It is a figure which shows the cross-sectional shape which looked at the polymer linear actuator of Example 1 from the side surface. It is a figure which shows the mode of a change of the polymer linear actuator of Example 1. FIG. It is a figure which shows the cross-sectional shape which looked at the polymer linear actuator of the modification of Example 1 from the side surface. It is a figure which shows the cross-sectional shape which looked at the polymer linear actuator which does not change linearly along a desired drive axis from the side. It is another figure which shows the cross-sectional shape which looked at the polymer linear actuator which does not change linearly along a desired drive axis from the side. It is a figure which shows the structure of the electrical connection of the polymer linear actuator of Example 1. FIG. It is another figure which shows the structure of the electrical connection of the polymer linear actuator of Example 1. FIG. It is another figure which shows the structure of the electrical connection of the polymer linear actuator of Example 1. FIG. It is a figure which shows the manufacturing method of the polymer linear actuator of Example 1. FIG. It is a figure which shows the cross-sectional shape which looked at the polymer linear actuator of Example 2 from the side surface. It is a figure which shows the cross-sectional shape which looked at the polymer linear actuator of the 1st modification of Example 2 from the side surface. It is a figure which shows the cross-sectional shape which looked at the polymer linear actuator of the 2nd modification of Example 2 from the side surface. It is a figure which shows the cross-sectional shape which looked at the polymer linear actuator of the 3rd modification of Example 2 from the side surface. It is a figure which shows the cross-sectional shape which looked at the polymer linear actuator of the 4th modification of Example 2 from the side surface.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Polymer linear actuator 120 Ion exchange resin 130 Outer wall electrode 131 Inner wall electrode 140, 141 Thin part 150 Variable power source for driving 160a, 160b Support point 161a, 161b Connection point 170 Pressure arm 171 Lead electrode for inner wall electrode 172 Lead for outer wall electrode Electrode 180 Fixed member 190 Movable member 200 Polymer linear actuator 240, 241, 242, 243 Thin wall portion 270 Pressure arm 271 Lead electrode for inner wall electrode 272 Lead electrode for outer wall electrode 280 Fixed member 300 Polymer linear actuator 340, 341 Thin wall portion 371 Lead electrode for inner wall electrode 372 Lead electrode for outer wall electrode 373 Electrode for inner wall electrode connection 374 Groove 375 Electrode for inner wall electrode lead 400 Polymer linear actuator 440, 441 Thick part 500 Polymer linear actuator 540, 541, 542, 543 Thin portion 600 Polymer linear actuator 640, 641 Planar thin portion 700 Polymer linear actuator 740, 741 Thin portion 800 Polymer linear actuator 840, 841 Notch

Claims (9)

It has a counter electrode formed on an ion exchange resin in a water-containing state or an ion-containing fluid state,
By applying a voltage between the counter electrodes,
A polymer linear actuator for deforming the shape of the ion exchange resin,
The cross-sectional shape of the ion exchange resin is a hollow shape that is line-symmetric with respect to the drive axis along the direction in which the polymer linear actuator is deformed,
A pair of one or more stiffness changing portions formed at positions symmetrical with respect to the drive shaft and having a stiffness different from the surrounding stiffness;
Electrodes formed respectively on the hollow inner wall and outer wall;
A polymer linear actuator comprising:   2. The polymer linear actuator according to claim 1, wherein a cross-sectional shape of the ion exchange resin is a hollow cylindrical shape or a hollow polygonal column shape.   3. The polymer linear actuator according to claim 1, wherein the one or more pairs of rigidity changing portions have substantially the same shape. On the drive shaft,
A support point connecting the polymer linear actuator and the fixing member;
The polymer linear actuator according to claim 1, further comprising a connection point that connects the polymer linear actuator and the movable member.   The polymer linear actuator according to any one of claims 1 to 4, wherein the one or more pairs of rigidity changing portions are thin-walled portions provided in the ion exchange resin.   The polymer linear actuator according to any one of claims 1 to 4, wherein the one or more pairs of rigidity changing portions are thick portions provided in the ion exchange resin.   The polymer linear actuator according to any one of claims 1 to 4, wherein the one or more pairs of rigidity changing portions are notches provided in the ion exchange resin. On the fixing member, further includes a pressure arm electrically connected to the electrode formed on the inner wall portion or the electrode formed on the outer wall portion,
The pressure arm is in contact with the polymer linear actuator,
The electrical linear connection is established between the electrode formed on the inner wall and the electrode formed on the outer wall via the pressure arm, and the polymer linear actuator is fixed. Item 8. The polymer linear actuator according to any one of Items 1 to 7. An extraction electrode formed at a position separated from the electrode formed on the inner wall or the electrode formed on the outer wall;
The electrode formed on the inner wall part or the electrode formed on the outer wall part, and the electrode for connection are connected to each other, and the connection electrode is formed on the cross section of the ion exchange resin. ,
The electrical connection with the said electrode formed in the said electrode formed in the said inner wall part or the said outer wall part through the said electrode for extraction and the said electrode for connection is taken. The polymer linear actuator according to any one of the above.

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