JP2013038956A - Actuator and method of manufacturing the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bending drive type actuator having high deformation response characteristics and a large generation force.SOLUTION: An actuator includes a pair of electrodes and an electrolyte layer disposed between the pair of electrodes, and is deformed by application of voltage between the pair of electrodes. The electrolyte layer includes an electrolyte, a matrix supporting the electrolyte in a cavity and comprising a polymeric material, and a matrix reinforcement material for reinforcing the matrix. At least part of the matrix reinforcement material is embedded in the matrix.

Description

  The present invention relates to an actuator and a manufacturing method thereof. In particular, the present invention relates to a soft actuator using a polymer material.

  Flexible and lightweight polymer actuators (also called soft actuators) can be expected to be used in a wide range of fields, from robotics to medical equipment, micromachines, sensors, and the like, and their development is attracting attention. Electroactive polymer actuator technology has become one of the particularly promising options in this field. Electroactive polymer actuators exhibit expansion and contraction by converting electrical energy into mechanical energy. Specifically, gel actuators, ion-exchange resin film-metal complex (IPMC) actuators, polymer CNT (Carbon nanotube) composition actuators, and the like are known.

  Patent Document 1 describes a gel-type actuator comprising a polymer gel electrode having carbon nanotubes and a polymer gel electrolyte disposed between the gel electrodes. When applied, the actuator bends. Such an actuator can operate at a low voltage in air or in a vacuum, but an intermediate layer made of a polymer gel electrolyte is difficult to cause ion movement, and it is difficult to increase the amount of displacement.

  Patent Document 2 describes an actuator in which a film-shaped molded body configured using a polymer as an intermediate layer is used and the molded body is swollen with an ionic liquid. Further, there is a description that a polymer material or an inorganic material may be added to the molded body for the purpose of adjusting the breaking strength and the elastic modulus. However, there is no description of any specific addition method for enhancing the breaking strength while maintaining the displacement.

JP 2005-176428 A JP 2009-278787 A

  By using a porous structure for the intermediate layer, the mobility of ions can be improved and the actuator can have a high displacement response. However, because of the porous structure, there is a problem with the strength of the bulk body during deformation. Arise.

  Furthermore, if a reinforcing material is simply mixed in the molded body for the purpose of enhancing the breaking strength, a large amount of the reinforcing material is disposed in the hole space having a low efficiency for enhancing the breaking strength. It becomes an obstacle. That is, there is a problem that the reinforcing effect is low and the displacement amount is further reduced.

  That is, an object of the present invention is to solve the above-described problems, and to provide a bending drive type actuator having a high deformation response characteristic and a large amount of displacement, and a manufacturing method thereof.

In order to solve the above problems, an actuator according to the present invention has a pair of electrodes and an electrolyte layer disposed between the pair of electrodes, and a voltage is applied between the pair of electrodes. An actuator that deforms, wherein the electrolyte layer includes an electrolyte, a matrix of a polymer material having the electrolyte in a gap, and a matrix reinforcing material that is dispersed in the matrix and reinforces the matrix. And
In the matrix reinforcing material of 90% by weight or more in the electrolyte layer, at least a part of each is embedded in the matrix.

  According to the present invention, at least a part of each matrix reinforcing material is embedded in the matrix, whereby the matrix is directly reinforced. Probability that the matrix reinforcing material embedded in the matrix occupies 90% by weight or more of the total amount present in the electrolyte layer, so that the above-mentioned reinforcing effect is surely produced and the ion migration of the electrolyte disposed in the void is prevented. Can be reduced. This greatly contributes to the reinforcement of the skeletal structure even when the reinforcing material is uniformly arranged in the matrix and does not shield the ion movement, so that the bending response characteristic is high and the displacement is large. A drive type actuator can be provided.

It is the schematic diagram which illustrates the structure of the actuator which concerns on this invention, (a) is a schematic diagram of an external appearance, (b) is the schematic diagram which expanded the electrolyte layer 2 which has a polymer fiber matrix, (c) is highly porous. It is the schematic diagram which expanded the electrolyte layer 2 which has a matrix of molecular material. It is a schematic diagram which illustrates operation | movement of an actuator, (a) is a figure before applying a voltage (OFF state), (b) is a figure after applying a voltage (ON state). (A) illustrates an electrolyte layer including a high aspect ratio matrix reinforcing material in a polymer fiber, and (b) illustrates an electrolyte layer including a high aspect ratio matrix reinforcing material in a matrix of a porous polymer material. . 1A and 1B are diagrams showing an actuator according to the present invention, in which FIG. 1A is a polymer fiber electrolyte layer including a matrix reinforcing material having a high aspect ratio, and FIG. FIG. (A) shows the comparison of the displacement obtained by Example 1 and the actuator of the comparative example 1. FIG. (B) shows the comparison of the distortion obtained by the actuator of Example 1 and the comparative example 1. FIG. It is a figure which shows typically a mode that the matrix reinforcement material is embedded in the matrix. It is a figure which shows the comparison of the distortion obtained by the actuator of Example 1 and Comparative Examples 1-3.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings.

(Overall structure of the actuator)
The actuator 1 in FIG. 1A illustrates the appearance of an electroactive polymer actuator according to the present invention. The actuator 1 has a pair of electrodes 3 and 13 that face each other, and an electrolyte layer 2 between them.

  As shown in FIG. 1B, the electrolyte layer 2 includes a matrix 9 made of a polymer material having an electrolyte in the gap, and a matrix reinforcing material 10 for reinforcing the matrix 9. In the matrix reinforcing material of 90% by weight or more of the total amount present in the electrolyte layer, at least a part of each is embedded in the matrix 9 of the polymer material.

  That is, in the present invention, 90% by weight or more of the matrix reinforcing material 10 present in the electrolyte layer is at least partially embedded in the matrix as shown in FIG. This may be in a state in which the matrix reinforcing material is partially exposed from the matrix as shown in FIG. 6, but may be in a state in which it is completely embedded in the matrix and no exposed portion exists. In each matrix reinforcing material, 50% or more of the total volume is embedded in the matrix, which is preferable because the reinforcing effect on the matrix is enhanced. Less than 50%, especially the smaller the embedded portion, the easier it is to peel from the matrix during deformation, which hinders ion migration and is not preferred.

  In addition, when a conductive material such as a carbon material is used as the matrix reinforcing material, if the ratio of the reinforcing material is large and the exposure from the matrix becomes too large, the conductivity becomes remarkably high, and a short circuit occurs between the electrodes. May end up. For this reason, a matrix reinforcing material should be added in such an amount that reinforcement can be achieved while maintaining electrical resistance between the electrodes.

  One end of the pair of electrodes 3 and 13 is fixed by a terminal 4 connected thereto. The terminal 4 is connected to an external power source 6 by a wiring 5.

  When a potential difference is applied between the pair of electrodes, electrolyte ions move in a continuous path between the electrodes, and the volume of each electrode changes. As a result, the electrode of the actuator expands or contracts.

  The electrolyte layer 2 of the present invention has an electrolyte, a matrix reinforcing material, and a matrix of a polymer material so that a continuous path for ion diffusion exists between the electrodes.

  In the present invention, the matrix of the polymer material is configured so that the electrolyte can be disposed in the gap. A part having no polymer material, such as a so-called porous structure or a structure in which polymer fibers are partly fused, has voids and holes.

  The voids of the matrix are configured such that an electrolyte is disposed and ions move using the voids. That is, in order to facilitate the movement of ions between the electrodes, the matrix preferably has a plurality of void paths in the direction between the electrodes, and is a so-called open-cell porous film or a part of which is fused. It may be a polymer fiber matrix.

  The matrix of the present invention preferably has a porous structure having a relatively high porosity before disposing the electrolyte so that the electrolyte can be sufficiently retained in the voids.

  FIGS. 1 (b) and (c) show schematic views of an enlarged electrolyte layer when the polymer material matrix is a polymer fiber matrix and a porous polymer material matrix, respectively.

  FIG. 1B is an enlarged schematic view of an electrolyte layer having a polymer fiber matrix, and FIG. 1C is an enlarged schematic view of an electrolyte layer having a matrix of a porous polymer material including a matrix reinforcing material. The figure is shown. For ease of viewing, the schematic diagram does not show the electrolyte, but it is understood that it is present in the electrolyte layer.

  FIG. 2 is a schematic diagram showing the operation of the ion migration type polymer actuator of the present invention. FIG. 2 (a) is before applying voltage (off state), and FIG. 2 (b) is after applying voltage ( ON state). In the figure, a sectional view in the film thickness direction of the actuator 1 whose one end is fixed by the terminal 4 and a power source 6 are shown.

  When a voltage is applied between the pair of electrodes 3 and 13, a change in volume occurs due to the movement of ions (cation 7 and anion 8) from the electrolyte layer 2 to the electrode and electrostatic repulsion in the electrode. A bending motion as shown in 2 (b) occurs.

  Each layer of the actuator of FIG. 2 is flexible and has a rectangular shape. The actuator is fixed along one of the shorter edges by the terminal 4, and when a voltage is applied to both sides of the wiring 5, the actuator bends toward the anode as shown in FIG.

  Further, by appropriately selecting the arrangement design of the electrolyte layer and the electrode of the actuator 1, in addition to bending, expansion or contraction, and further a twisting motion can be realized. Such a polymer actuator may have an arbitrary shape such as a circular shape, an oval shape, a triangular shape, a quadrangular shape, a cylindrical shape, or a helical shape.

  In order to obtain the flexibility of the actuator, it is desirable to use a polymer gel type polymer actuator among the ion movement type actuators, and it is more desirable to use a CNT gel type actuator made of an ionic liquid gel containing CNTs. If this is used, there is a possibility that the operation in the air is stabilized, the internal stress is large due to the Young's modulus of the CNT, and further, the advantage of using the nonvolatile ionic liquid is obtained.

  In the case of the polymer actuator shown in FIG. 1A, the electrolyte layer 2 is disposed between the pair of electrodes 3 and 13, and one end of the pair of electrodes is fixed by the terminal 4. The terminal 4 is connected to the power source 6 by the wiring 5.

  The electrolyte layer 2 includes a matrix of a polymeric material that includes a matrix reinforcement so that there is a continuous path from one electrode to the other.

  The matrix reinforcement may be partially oriented or fully oriented in at least a portion of the matrix of polymeric material.

  FIG. 1B and FIG. 1C illustrate the case where the polymer material matrix of the electrolyte layer is a polymer fiber matrix and the case of a porous polymer material matrix, respectively.

  Provided is an actuator that includes an electrolyte and a matrix of a polymer material including a matrix reinforcing material as an electrolyte layer, and a continuous path exists between electrodes due to the porous structure of the matrix of the polymer material. That is, the skeletal structure including the matrix reinforcing material has high mechanical strength, and therefore has high durability against external loads such as impact, tension, and pressure. For this reason, damage to the structure of the electrolyte layer due to an external load during manufacture or operation is greatly suppressed. Therefore, the durability of the actuator structure can be improved. Further, because of the porous structure, the performance is high in terms of strain and speed.

  Hereinafter, the configuration of the electrolyte layer will be described in detail using embodiments.

(Embodiment 1: Polymer fiber matrix)
FIG. 1B is an enlarged schematic diagram of a matrix of a polymer material that includes the matrix reinforcing material and constitutes the electrolyte layer 2 of the actuator 1. In this figure, the electrolyte layer 2b is shown to have a polymer fiber matrix 9, a matrix reinforcing material 10, and a gap 11 between the fibers.

  The polymer fiber matrix 9 is an aggregate of polymer fibers, and the fibers are partially bonded by fusion or the like. Since the outside of the fiber becomes a void and this becomes an ion movement path, the efficiency of ion movement in the actuator is high. In the gap 11, an electrolyte that is a source of ions is disposed.

  The length of the polymer fiber is long, and the diameter may have a width from 0.005 μm to 50 μm. It is possible to control the flexibility of the polymer fiber by adjusting the filling rate per unit volume, and therefore a relatively small diameter is desirable, and a diameter between 0.01 μm and 1 μm is preferred.

  Furthermore, a matrix reinforcement 10 is present at least partially in the polymer fiber matrix 9. The matrix reinforcement preferably has a mechanical strength that is ten times higher than the polymeric material comprising the polymeric fibers. In the present embodiment, among the matrix reinforcing materials existing in the electrolyte layer, the matrix reinforcing material existing in a state in which at least a part is embedded in the matrix is 90% by weight or more, specifically 90% to 99.9%. It is. The matrix reinforcing material is preferably particles or a carbon material having a high aspect ratio which will be described later. The carbon material having a high aspect ratio is preferably an aspect ratio having a major axis and a minor axis of 5: 1 or more, and preferably 10: 1 or more.

  High aspect ratio carbon materials are more preferred because carbon fiber based materials are known to have high mechanical strength. In addition, if the polymer fiber is embedded so that the extending direction of the polymer fiber and the longitudinal direction of the carbon material are oriented, the characteristics as the polymer fiber are further improved. The matrix reinforcement is preferably a material with its own high mechanical strength.

  When an external force or pressure is applied to the electrolyte layer 2, the load is moved to the matrix reinforcement due to the interaction between the matrix reinforcement and the matrix of polymer material. For this reason, the mechanical strength of the electrolyte layer is improved.

  Such an electrolyte layer is applied to an external load (force or pressure) during the manufacturing process of the actuator, for example, in a hot press process (a constant pressure is applied at a high temperature by sandwiching the electrolyte layer between electrodes) or during operation after manufacturing. High durability.

  The partially fused polymer fiber matrix produced by hot pressing has a strong fiber structure and does not collapse during the manufacture or operation of the actuator. Therefore, the degree of decrease in the porosity of the polymer fiber or the void 11 is considerably reduced.

  The electrolyte layer 2 contains an electrolyte in the voids of the matrix. When a voltage is applied across the electrodes, there is a continuous path for electrolyte movement (anions or cations) between the counter electrodes, so that the electrolyte cations and anions can easily diffuse toward the electrodes 3,13. .

  Since the ions easily diffuse between the electrodes, the characteristics of the actuator can be improved in terms of strain and speed.

  Furthermore, the film thickness should be controlled to be more than 1 μm and less than 500 μm so as not to reduce the transfer efficiency. While the thickness of the electrolyte layer is increased, the strength is increased, whereas when the thickness is decreased, the strain and speed may be increased.

  However, it is known that the mechanical strength decreases as these thicknesses decrease, thus increasing the possibility of damage or destruction of the electrolyte layer due to external pressure during the manufacture or operation of the actuator. This increases the possibility of a short circuit between the electrodes.

  The electrolyte layer of this embodiment has a high mechanical strength, and thus can be a highly durable and thin film. Further, the fiber structure can provide a continuous path for ion movement. For this reason, large distortion and speed of the actuator can be realized.

  The polymer fiber matrix of this embodiment has a matrix reinforcing material 9 on the surface or inside thereof. Furthermore, the polymer fibers may be random, oriented, or partially oriented along certain dimensions of the actuator. The mechanical strength may be adjusted by changing the orientation direction of the matrix reinforcing material in the polymer fiber.

  For this reason, since the mechanical strength bent according to the orientation direction can be freely adjusted, the displacement amount or output of the actuator can be improved according to the situation.

  When a high aspect ratio carbon material is used as the matrix reinforcement, it may be partially or fully oriented along the length of the polymer fiber.

  When the length of the matrix reinforcement is oriented along the length dimension of the polymer fiber, the increase in mechanical strength of the polymer fiber material becomes very large. In such a case, the structural durability of the electrolyte layer and the actuator is increased.

The electrolyte layer further has a high electrical resistivity. Preferably, the electrolyte has a resistivity between 10 ³ Ω · m and 10 ¹⁸ Ω · m. More preferably, the resistance between the electrodes of the actuator is greater than 1 kΩ due to the presence of the electrolyte layer. Including an insulating material, a semiconductor material or a conductive material as a matrix reinforcing material, the respective amounts can be controlled so that an electrolyte layer having the above-described electrical characteristics can be obtained.

  Furthermore, the polymer fiber may hold an ionic liquid inside, and may further hold the ionic liquid in a gap between the polymer fiber and the polymer fiber.

  Further, the cross section of the polymer fiber is not particularly limited, and may be a circle, an oval, a quadrangle, a polygon, or a semicircle, and does not have to be an accurate shape, and the shape may be different in any part. I do not care.

(Embodiment 2: Porous polymer matrix)
FIG.1 (c) shows the schematic diagram which expanded the electrolyte layer 2 of the actuator 1 of Fig.1 (a). The electrolyte layer 2a has a matrix of a porous polymer material. In FIG.1 (c), the space | gap (pore) of the electrolyte layer 2a, the matrix reinforcement material, and the matrix of a polymeric material are each represented by 11, 10 and 12. Such a matrix of polymeric material has a large number of voids, and thus electrolytes (anions and cations) are likely to diffuse.

  The electrolyte layer of the present embodiment has a matrix having a structure having many pores, and includes a matrix reinforcing material in the skeleton structure (matrix). Also in the present embodiment, the matrix reinforcing material present in a state where at least a part of the matrix reinforcing material existing in the electrolyte layer is embedded in the matrix is 90% by weight or more, specifically 90% to 99.9%. It is.

  Such a matrix reinforcing material may be a particle or a high aspect ratio carbon material described below. In general, such a high aspect ratio carbon material has a high mechanical strength. Therefore, the strength of the porous structure is increased by including it in the skeleton structure. As a result, even if the actuator is repeatedly driven, the actuator is stably deformed.

  Furthermore, the structure of the electrolyte layer 2 gives high durability without being destroyed during or after manufacturing / processing. Damage to pores and voids due to external loads during and after manufacture of the actuator is greatly suppressed. As described above, since there is a continuous passage obtained by the electrolyte structure having high porous characteristics, when voltage is applied to the electrodes, ion diffusion between the electrodes is improved.

  Further, the voids of the matrix may be cell-type closed pores, but it is preferable that the voids are connected for good ion diffusion.

  The porosity of the electrolyte layer is preferably more than 20% by volume and less than 90% by volume. When the porosity is less than 20% by volume, the volume of the continuous passage between the electrodes is small, and the displacement of the actuator may not increase. On the other hand, if the porosity is greater than 90% by volume, the strength of the electrolyte layer is insufficient, and the electrolyte layer may crack during manufacture of the actuator or during deformation, which may lead to a short circuit between the electrodes. There is. In this case, the porosity can be measured by a mercury intrusion method, a gas adsorption method, and an Archimedes method.

  The size of the gap is preferably 3 mm or less and more than 0.5 nm. Preferably, the size of the gap is 500 μm or less and more than 1 nm.

  Further, the matrix reinforcing material is on the surface or inside of the matrix (polymer framework). When the gap size is larger than 500 μm, the strength of the electrolyte layer is insufficient, and the electrolyte layer may be cracked at the time of deformation. On the other hand, the gap size is more preferably 1 nm or more for good ion diffusion. . Alternatively, the void size can be measured by mercury porosimetry, gas adsorption, or direct observation with a scanning electron microscope.

Furthermore, the electrolyte layer has a high electrical resistivity. Preferably, the electrolyte layer has a resistivity of 10 ³ Ω · m to 10 ¹⁸ Ω · m. More preferably, the resistance between the electrodes of the actuator is greater than 1 kΩ due to the presence of the electrolyte layer. Insulating materials, semiconductor materials, or conductive materials may be included as matrix reinforcing materials, and the respective amounts may be controlled to obtain an electrolyte layer having the above-described electrical characteristics.

(Matrix reinforcement)
As shown in FIG. 1B and FIG. 1C, the electrolyte layer of the present invention has a matrix reinforcing material dispersed in a matrix. Of the matrix reinforcing material present in the electrolyte layer, the matrix reinforcing material present in a state in which at least a part is embedded in the matrix is 90% by weight or more, specifically 90% to 99.99%. The remaining less than 10% by weight of the matrix reinforcement need not be embedded in the matrix described above. In this case, you may arrange | position with the electrolyte in the space | gap of a matrix.

As shown in FIG. 6, it is embedded in a matrix of polymer material. The matrix reinforcement may be partially encased or completely encased in a matrix of polymeric material as shown in FIG. The remaining non-embedded matrix reinforcement is located in the matrix void and away from the matrix along with the electrolyte, but it is desirable to have less as this adversely affects ion migration. That is, if the weight of the matrix reinforcing material embedded in the matrix is A and the weight disposed in the gap without being embedded in the matrix is B, the total amount present in the matrix is A + B, and is embedded in the matrix. The weight percent (X) of the matrix reinforcement is as shown in the following equation.
X = A / (A + B) × 100 (%) (1)
That is, in the present invention, X is 90% or more. Further, the weight percent of the matrix reinforcing material embedded in the matrix in the electrolyte layer does not exceed 100%, and is preferably a value of 99.99% or less.

  The matrix reinforcing material 10 may be a particle or a high aspect ratio carbon material.

  When the matrix reinforcing material is a particle, it may have any shape, but preferably has a shape in which the contact area between the particle and the polymer and the adhesion rate are increased. Further, when the matrix reinforcement is a particle, it may be a particulate material or a low aspect ratio material. The particle size may range from nanoscale to microscale. The nanoparticles are preferably nanoparticles because the nanoparticles have a large surface area and therefore a large contact area between the particles and the polymer, increasing the load transfer between the polymer and the matrix reinforcement.

  Further, when the matrix reinforcing material is a high aspect ratio carbon material, the aspect ratio is preferably larger than 10. The matrix reinforcement may be oriented along the matrix direction of the polymeric material, or may be randomly distributed or partially oriented along the direction of the polymeric material matrix. Aligned. If a matrix of a polymer material including a matrix reinforcing material is used, an electrolyte layer having high mechanical strength can be obtained. The mechanical strength of the matrix reinforcing material is preferably higher than the mechanical strength of the polymer. Furthermore, the mechanical strength of the matrix reinforcing material is desirably 10 times or more the strength of the polymer. The mechanical strength of the matrix reinforcing material is preferably 100 times or more that of the matrix of the polymer material.

Further, the entire electrolyte layer needs to have a high electrical resistivity. Preferably, the electrolyte layer has a resistivity of between 10 ³ Ω · m and 10 ¹⁸ Ω · m. More preferably, the resistance between the electrodes of the actuator is set to a value larger than 1 kΩ due to the presence of the electrolyte layer. Insulating materials, semiconductor materials or conductive materials are included as matrix reinforcing materials, and the respective amounts may be controlled so as to obtain an electrolyte layer having the above-described electrical characteristics.

  When the matrix reinforcing material is an insulating material or a semiconductor material, the electrolyte layer 2 can be obtained by including a material in an amount between 0.1 wt% and 80 wt% of the total weight of the electrolyte layer. If the value is less than 0.1% by weight, it may not contribute to the increase in the mechanical strength of the matrix of the polymer material. If the value exceeds 80% by weight, the flexibility of the electrolyte layer during deformation of the actuator May not contribute to sex. When the matrix reinforcing material is conductive, it preferably constitutes 0.1% to 30% by weight of the electrolyte layer. If the value is less than 0.1% by weight, it may not contribute to the increase in the mechanical strength of the matrix of the polymer material. If the value exceeds 30% by weight, the high electrical resistivity of the electrolyte layer may be maintained. It is not preferable. However, when the matrix reinforcement is a conductive material coated with an insulating material, it may be included in the electrolyte layer at a value between 0.1 wt% and 80 wt%. The amount of the matrix reinforcing material is more preferably 0.1% by weight to 20% by weight. In other words, the electrolyte layer is preferably designed so that the resistance between the electrodes of the actuator exceeds 1 kΩ by selecting the amount of matrix reinforcement and the process.

  Examples of materials that can be used as a matrix reinforcing material include SWNT (Single-Walled Carbon Nanotube), MWNT (Multi-Walled Carbon Nanotube), VGCF (Vapor Crown Carbon Fiber), carbon fibers such as graphite nanoplatelet, graphite nanoscroll, Examples include, but are not limited to, carbon materials such as black and graphene, layered silicate materials such as nanoclay, ceramic materials such as silica materials, and glass beads.

  Although not limited to the following, it is possible to use at least one of high aspect ratio carbon fibers such as SWNT, MWNT, and VGCF because of its geometric shape, high mechanical strength, and ease of remodeling into a gel. preferable.

(Electrolyte layer)
The electrolyte layer 2 of the actuator 1 in FIG. 1 may contain any material other than the polymer material as long as a potential difference can be applied between the pair of electrodes of the actuator.

  It is preferable that the material that is flexible and made of a matrix of a polymer material is an electrolyte layer (in other words, this material generates ions in a molten state) and can form a laminated structure.

The electric resistance of the matrix of the polymer material is desirably 10 ³ Ω · m to 10 ¹⁸ Ω · m. The electric resistance of the electrolyte layer between the two electrodes is preferably 1 kΩ or more.

  Examples of the material constituting the matrix material of the polymer material of the electrolyte layer include an ionic conductive polymer or a nonionic conductive polymer containing an ionic material. As charges move through these materials in the presence of an electric field, current flows and ions become carriers of charge. The part that receives the ionic molecules expands locally. As ions with different polarities move in opposite directions, the actuator bends due to the difference in anion and cation size.

  In the present invention, the electrode and the electrolyte layer include a polymer material, and it is preferable that the polymer is hardly hydrolyzed and has excellent stability in the atmosphere.

  Examples of the polymer include polyfluoride polymers such as tetrafluoroethylene and fluorinated polyvinylidine; olefin polymers such as polyethylene and polypropylene; polybutadiene compounds; polyurethane compounds such as elastomers and gels, and urethane polymers Silicone compounds; thermoplastic polystyrene; polyvinyl chloride; polyethylene terephthalate. One or a plurality of the above polymers may be used, and polymers other than those described above may be used.

(Electrolytes)
When the actuator is driven in air, the ionic material is preferably present as an ionic liquid with a relatively long lifetime. In this specification, the molten or molten state of a salt in an ambient atmosphere is referred to as an ionic liquid, and includes, for example, a salt that is in a molten state at a wide temperature range of 0 ° C. to 40 ° C. including room temperature.

  Furthermore, an ionic liquid with high ionic conductivity is preferable for high ionic conductivity. Salts that are stable as liquids in the desired temperature range are more preferred, but various well-known salts may be used as ionic liquids. Suitable ionic liquids may include imidazolium salts, pyridinium salts, ammonium salts and phosphonium salts, and mixtures thereof.

  Further, ionic materials such as lithium fluoride, lithium bromide, sodium bromide, magnesium chloride, copper sulfate, sodium acetate, and sodium oleate may be included.

(Configuration of electrode)
The material composition of the two electrodes may be different or the same.

  The electrodes 3 and 13 are preferably formed of a polymer material having electrical conductivity. The polymer material having electrical conductivity includes a composite polymer including a conductive polymer and a conductor.

  Any material may be included as an electrode material as long as the performance of the actuator is not adversely affected. Materials for obtaining flexible electrodes include various carbon materials such as graphite, carbon black, acetylene black, and ketjen black, carbon whisker, graphene, carbon fiber, carbon nanotube and carbon microcoil, metals (platinum, palladium, Ruthenium and silver, iron, cobalt, nickel, copper, indium, iridium, titanium and aluminum, etc.) powder (fine particles), metal compounds (such as tin oxide, zinc oxide, indium oxide, stannic oxide and ITO), metal fibers, Examples thereof include conductive ceramic materials and conductive polymer materials. Electrodes include these conductive materials as one of such compounds.

  The conductor of the present invention is more preferably a carbon material having a nanostructure from the viewpoint of electrical conductivity and specific surface area, and most preferably a carbon nanotube (CNT) material. The CNT gel containing carbon nanotubes and ionic liquid is a gel in which CNTs containing ionic liquid are self-organized, and the ionic liquid helps the CNT dispersion effect. Therefore, CNT ionic liquid gel is highly preferred as a candidate electrode material.

  Although not limited to this case, it is desirable to include a material that is difficult to hydrolyze, and such a polymer included in the electrodes 3 and 13 is stable in the ambient atmosphere and enables stable operation of the actuator.

  Examples of such polymers include polyolefin polymers such as polyethylene and polypropylene; polystyrene; polyimide; polyaniline such as polyparaphenylene oxide, poly (2,6-dimethylphenylene oxide), and polyparaphenylene sulfide (aromatic-bonded high polymers). Molecule); or a polymer containing a fluorine-based substance such as polytetrafluoroethylene and polyvinylidene fluoride, a sulfonic acid group (—SO 3 H), a carboxyl group (—COOH), a phosphoric acid group, a sulfonium radical, an ammonium radical, and a pyridinium radical Incorporating functional groups such as: sulfonic acid groups, carboxyl groups, phosphoric acid groups, sulfonium radicals, ammonium radicals and pyridiniums on polymer frameworks containing fluoropolybutadiene compounds Perfluorosulfonic acid polymer, perfluorocarboxylic acid polymer and perfluorophosphoric acid polymer that introduce radicals, etc .; polyurethane compounds such as elastomers and gels; silicone compounds; polyvinyl chloride; polyethylene terephthalate; There is nylon; polyarylate and the like may be included.

  In addition, a polymer that is conductive may be used. For example, polyaniline, polypyrrole, polythiophene, polyacetylene, and polyphenylene may be included in this type of polymer, but the polymer is not limited thereto. Absent. One or more of the above polymers, copolymers and functional polymers can be used, but the present invention is not limited to these polymers, and other polymers may be used.

  Furthermore, it is also possible to combine the above two or more types of conductors and / or the above two or more types of polymers.

  It is also possible to use a combination of the above conductive polymer material and conductor.

  Further, when forming such an electrode material, an electrolyte described later may be included.

  The electrode can be produced as a thin metal film by plating, vapor deposition, sputtering, or the like. When such an electrode is formed directly in contact with the electrolyte layer, it is considered that the electrode is formed only of an electrically conductive material.

  It is particularly preferred to use as the actuator electrode a material comprising carbon nanotubes containing a mixture of a fluoropolyvinylidine copolymer and an ionic liquid as a gel. Further, the two actuator electrodes on both sides of the electrolyte layer may be made of the same material or different materials.

  It is also desirable to use a polymer material used for the actuator electrode as the matrix material of the electrolyte layer 2 in order to improve the adhesion of the actuator electrode.

(Actuator manufacturing method)
Below, the manufacturing method of the actuator of this invention is demonstrated.

(Manufacturing method of polymer fiber matrix)
First, a method for producing a polymer fiber will be described.

  In this manufacturing method, the polymer fiber body 9 including the matrix reinforcing material 11 is manufactured having at least a portion that is perfectly oriented along one direction.

  Examples of the method for producing the polymer fiber include, but are not limited to, electrospinning, polymer blend spinning, melt blow spinning, and flash spinning.

  The electrospinning method is desirable because it can be used to control the fiber shape, orientation and diameter of various polymers and to make nano-sized diameter fibers.

  The production process of polymer fibers by electrospinning uses a high voltage power source, polymer solution / storage tank, spinneret and grounded collector. The polymer solution is supplied from the tank to the spinneret at a constant flow rate. Since a voltage of 1 to 50 kV is applied to the spinneret, the droplet is charged. The electrostatic repulsion force opposes the surface tension, the polymer droplet is pulled, and the jet of the polymer solution is jetted toward the collector. When the jet solvent volatilizes and then arrives at the collector, the size of the jet is reduced to the nano level, and an aggregate of polymer fibers is formed at the collector. Further, instead of the polymer solution, a molten polymer heated at a temperature higher than the melting point may be used.

  It is better to include a matrix reinforcing material in the solution form of the polymer solution supplied to the spinneret, but the matrix reinforcing material is embedded in the polymer fiber even if sprayed to the collector while the polymer solution jet is being collected. be able to. In order to embed 90% or more of the matrix reinforcing material in the matrix, a hot press process described later can be performed more preferably. In order to improve the dispersibility in the polymer solution, the matrix reinforcement may be crushed using a pestle or mortar or sonicated before being added to the polymer solution for electrospinning. It is good also as a solution using a wet method like these, or a ball mill or a roller mill.

  Moreover, the oriented fiber membrane can be obtained by using a rotating drum as a collector. Furthermore, a known electrospinning technique can be used for controlling the orientation. As described above, the bending ability and output of the actuator can be controlled by the orientation direction of the polymer fibers in the actuator.

(Method for producing matrix of porous polymer material)
The method for producing the matrix of the porous polymer material of the present invention can use, but is not limited to, a conventional polymer extraction method, solvent extraction method, irradiation etching method, foaming method, and expansion method. Absent.

  When the polymer extraction method is used, at least two kinds of polymers are blended to obtain a polymer membrane having a micro separation structure. In other words, two kinds of polymers are first blended, and a polymer film is formed by spin coating or casting. Thereafter, the polymer component in the discontinuous phase is removed using the thermal decomposition or solubility difference of the polymer in the solvent to form a micro separation structure.

  The resulting final structure has a structure with pore characteristics. Polyamide, polystyrene, styrene-acrylonitrile copolymer, polycarbonate, polybutylene terephthalate, polyethylene terephthalate, polyphenylene sulfide, polyvinyl pyrrolidone, polysulfone are polymers that can be used for the production of structures having pore characteristics by the polymer extraction method. , Polyethersulfone, polyetheretherketone, polyamideimide, polyimide, polyetherimide and the like, but are not limited thereto. Further, three or more kinds of polymers may be mixed and used.

  In addition, as a method of obtaining a porous polymer matrix film embedded with a matrix reinforcing material, there is a method of dispersing a matrix reinforcing material in a polymer solution during use of a polymer extraction method or a solvent extraction method. It is not limited to this. A matrix reinforcement is first dispersed in one polymer, then a solution of this polymer and matrix reinforcement is blended with another polymer, followed by polymer extraction to obtain the above matrix. Also good.

  A polymer film containing a compatible solvent may be obtained using a solvent extraction method, and then immersed in an incompatible solvent. The two solvents used are compatible with each other. When the polymer film is immersed, the polymer film is extracted into a solvent compatible with the polymer, and is replaced with a solvent in which the polymer film is immersed. As a result, a polymer film having many pores is produced. A solvent compatible with each other and a combination of a solvent compatible with and incompatible with the polymer are not particularly limited to the polymer.

  In order to obtain a polymer membrane containing a matrix reinforcing material and having many pores, a membrane in which a polymer and a matrix reinforcing material are dispersed in a compatible solvent is prepared, and both the polymer and the matrix reinforcing material are non-phasic. It may be immersed in a soluble solvent. As a result, a polymer membrane containing a matrix reinforcing material and having many pore structures can be obtained.

  In the irradiation etching method, a polymer film containing a foaming agent is irradiated with a high-energy ion beam, neutron beam, or laser that penetrates the film and forms pores. A polymer containing a foaming agent is heated to form pores.

  The expansion method is a method of forming pores having a microfiber structure by applying a shear stroke to a polymer film.

  A polymer film having many pores may be formed using one or more of the methods described above.

(Method for manufacturing electrode)
When there is no particular limitation, the electrode is made of, for example, a conductive material, an ionic liquid, and a polymer. The polymer melts when the melting point is exceeded, and then the conductive material, ionic liquid and polymer are mixed into one solution. Such solutions are injected and molded by various well known techniques of pouring and molding and then heated to evaporate the solvent.

  In the method of removing the solvent after dissolving the polymer in a suitable solvent, tetrahydrofuran (THF), methyl ethyl ketone, N-methyl-2-pyrrolidone, dimethylacetamide (DMAc) is used as the ionic liquid and the solvent. Can be used.

  Furthermore, the electrode may be made of the same polymer fiber as the electrolyte layer 2. In the method for producing an electrode made of polymer fiber, a conductive polymer fiber electrode should be obtained using a similar technique by adding a conductive material in the above-described polymer fiber production process of the electrolyte layer 2.

(Electrolyte layer and electrode joining method)
The obtained electrolyte layer and electrode are cut into an arbitrary shape and size and laminated. As a method of forming the polymer actuator 1, a preferred method of laminating and arranging the electrodes 3 and 13 on both sides of the electrolyte layer 2 is a thermocompression bonding (hot pressing) method, but is not limited to such a method.

  The temperature of the polymer, the polymer binder, the ion species, the pressing pressure, and the heating press time constituting the actuator may be appropriately selected so as to be performed below the dissociation temperature of each component.

An electrolyte layer is sandwiched between two electrodes, and thermocompression bonding is performed between both electrodes. For example, the temperature during thermocompression bonding may be set between 30 ° C and 150 ° C. More preferably, the temperature is set in the range of 110 ° C. ± 5 ° C. Furthermore, the press pressure is desirably If it is ^{1kg / cm 2 ~100kg / cm 2} , more desirably If it is ^{10kg / cm 2 ~50kg / cm 2} .

  Further, the method for forming the thin metal layer may be electroplating, vapor deposition, sputtering, or the like on the surface of the electrolyte layer 2.

  The actuator 1 arranged in a stacked manner as described above may be impregnated with water, an ion conductive material, an ionic liquid, or a mixture thereof. In this case, the density of the solution to be impregnated and the impregnation time may be determined using a well-known method, and are not particularly limited.

  In addition, when using oriented polymer fiber electrodes and / or electrolyte layers, the design is made in consideration of the orientation direction of each polymer fiber when connected, and the displacement amount or generated force of the polymer actuator is improved. be able to.

(Actuator drive)
The drive power supply 6 applies a voltage or a current between the electrodes of the electroactive polymer actuator 1 and applies a potential difference. The input polarity and wave pattern are controlled by the value and time by a control unit not shown in FIG. 1, and the electric signal can control the bending motion of the electroactive actuator.

  When a potential difference is applied between the pair of electrodes, electrolyte ions move in a continuous path between the electrodes, and the volume of each electrode changes. As a result, the actuator expands or contracts. For example, anions and cations in the ionic liquid are attracted to the positive and negative poles, respectively. The sizes of anions and cations contained in the ionic liquid usually cause a volume difference between different electrodes.

  When such a change in electrode shape / volume occurs, the electroactive actuator bends or bends.

  Further, the displacement amount and speed of the bending motion of the electroactive actuator can be controlled by controlling the value of the applied voltage and current. Furthermore, the direction of the bending motion can be controlled by changing the direction of the polarity.

  The drive power supply 6 applies a DC voltage (current) or VAC (alternating current) to the electroactive actuator 1. Arbitrary waveform patterns such as linear sweep, square wave and sine wave, pulse wave, and amplitude of voltage (or current) can be controlled. The duty cycle of the waveform pattern can also be set arbitrarily.

  When an ionic liquid is used, the applied voltage does not exceed the potential window of the ionic liquid and is in a range in which deterioration caused by electrolysis can be suppressed. When a general ionic liquid is used, the applied voltage is more preferably 4 V or less.

(Third embodiment: high aspect ratio matrix reinforcement)
FIG. 3 is a schematic diagram of the electrolyte layer of the actuator 1 of the present embodiment. The polymeric fiber matrix 2c and the porous polymeric material matrix 2d include a high aspect ratio matrix reinforcement 13 therein. For clarity, the electrolyte is not shown, but is understood to be present in the electrolyte layer of FIG.

  The high aspect ratio carbon material may be random, partially oriented along a certain direction, or fully oriented.

  FIG. 3 shows a case where a high aspect ratio carbon material is randomly dispersed in a matrix of a polymer material. Also, the high aspect ratio carbon material may be partially encased or fully encapsulated in a matrix of polymeric material. A matrix of polymeric fibers and a porous polymeric material containing a high aspect ratio matrix reinforcement is shown in FIGS. 3 (a) and 3 (b), respectively. The high aspect ratio carbon material has a long enough length for a short length, and in the case of a cylindrical shape, the carbon material has a sufficiently long length for a diameter.

  The diameter is longer than 0.1 nm and smaller than 50 μm, and the length in the longitudinal direction is at least 10 times the diameter.

  Examples of high aspect ratio carbon materials include, but are not limited to, carbon fiber materials such as VGCF, MWNT, and SWNT. In general, such a fiber-shaped carbon material has high mechanical strength and low density. Such material geometries are useful for efficient load transfer between the matrix of matrix material and the matrix reinforcement. The mechanical strength of such materials is very high. For example, the tensile strength of SWNT is GPa order. For this reason, the mechanical strength of the electrolyte layer can be increased with a small amount of such a material in the matrix of the polymer material.

  It is known that the electrical properties of carbon fiber materials depend on the structure. For example, in the case of a carbon nanotube (CNT) material, the electrical characteristics range from a semiconductor material to a metal material due to the chirality of the tube.

  When the high aspect ratio carbon material is an insulator or a conductive material coated with a semiconductor or insulating material, an amount of less than 80% by weight may be used as a matrix reinforcement for the electrolyte layer. If the high aspect ratio carbon material is conductive, the matrix of polymeric material may include a matrix reinforcement in an amount of less than 30% by weight. More preferably, the electrolyte layer may include a matrix reinforcement in an amount of less than 20% by weight. In other words, the amount of the matrix reinforcing material may be selected from the above range, and an appropriate process is selected to obtain a high resistance electrolyte layer. Such an electrolyte layer is highly resistant to external forces or pressures in an actuator manufacturing process such as hot pressing (for example, when pressure is applied at a high temperature to connect an electrode to the electrolyte layer) or during actuator operation. The structure of the electrolyte layer does not collapse during or after processing / manufacturing. Therefore, the porosity of the polymer fiber due to the external load during the manufacture of the actuator and the operation of the actuator, that is, the void 11 between the fibers (2c in FIG. 3A) or the porous polymer structure void 11 (FIG. 3 (b) 2d) damage risk is greatly reduced.

  Moreover, the gel containing such a high aspect ratio carbon material is easy to form. The electrolyte layer 2 contains an electrolyte. When a voltage is applied between a pair of electrodes, there is a continuous path for electrolyte movement (anions or cations) between the electrodes so that electrolyte cations and anions can easily diffuse toward the electrodes. Since ions easily diffuse between the electrodes, the characteristics of the actuator can be improved in terms of strain and speed.

  The actuator 1 of FIG. 4 (a) illustrates an electroactive polymer actuator according to a third embodiment having a polymer fiber electrolyte layer containing a high aspect ratio matrix reinforcement.

  The high aspect ratio carbon material of the electrolyte layer is further encapsulated in a matrix of polymeric material. FIG. 4B is an enlarged schematic view of a part of the electrolyte layer 2 including a polymer fiber that wraps a high aspect ratio carbon material. The contact area between the polymer and the high aspect ratio carbon material is large because the matrix reinforcement is completely encapsulated within the matrix of the polymer material.

  For this reason, in the case of a matrix of a matrix reinforcing material and a polymer fiber body or a porous polymer material, the surface area that can be used for adhesion between the matrix reinforcing material and the polymer framework is relatively large. Load transfer between the reinforcements is more efficient. For this reason, an electrolyte layer having high durability against an external load can be obtained. Such an electrolyte layer having a polymer fiber or a porous polymer structure has high durability, and further has a feature that when the actuator is driven, there are many voids and pores that form continuous passages for ion movement.

  In addition, when the high aspect ratio carbon material is oriented along the length of the polymer fiber, the resulting structure has a very high mechanical strength. Such an electrolyte layer structure has very high durability.

  Preferred matrix reinforcements in this regard include, but are not limited to, carbon fiber based materials such as conductive SWNT, MWNT, and VGCF. Such materials are known to have high tensile strength on the order of GPa. The addition of a small amount of such materials improves the mechanical strength of the polymeric material matrix.

  Examples of the present invention will be described below.

  The performance of the actuator of the present invention was compared with that of a conventional actuator using a polymer gel electrolyte.

Example 1
In this example, polymer fiber (polymer-VGCF fiber) containing VGCF as a matrix reinforcing material was used as the matrix of the electrolyte layer.

The polymer-VGCF fiber was synthesized by the electrospinning process described in the first embodiment. Specifically, 3 wt% VGCF NMP solution 2c. c is mixed with 800 mg of PVDF-HFP (polymer material) and 2 mg of BMIBF ₄ (ionic liquid) solution, sent to the spinneret at a speed of 0.1 cc / hour, and a voltage of 22 kV is applied to the collector to form a polymer. -VGCF fiber was obtained.

  In addition, the CNT is mixed with the polymer material and the ionic liquid in the solvent, ball milled, poured into a mold, and heated at about 110 ° C. to evaporate the solvent, thereby forming a CNT gel electrode film. did. The obtained CNT gel electrode was maintained under vacuum for 24 hours.

  The actuator layer was produced by a hot press process at a pressure of 0.5 KN and 110 ° C. for 1 minute with the electrolyte layer created above sandwiched between a pair of CNT gel electrodes.

(Comparative Example 1)
As Comparative Example 1, a polymer gel electrolyte layer was prepared with reference to Prior Art Document 1. Similarly to Example 1, an actuator was produced by sandwiching a polymer gel electrolyte layer between the same pair of electrodes under hot press conditions. Except for the electrolyte layer, the components and dimensions of the actuator were all the same.

(Comparative Example 2)
As Comparative Example 2, an electrolyte layer was prepared by adding the same amount of VGCF as in Example 1 when preparing the same polymer gel electrolyte layer as Comparative Example 1 as the electrolyte layer. In the observed SEM image of the cross section, almost no voids serving as ion migration paths could be observed.

(Comparative Example 3)
In order to confirm the effect of the matrix reinforcing material, a polymer fiber not containing VGCF was prepared instead of the polymer fiber used in the electrolyte layer of Example 1, and an actuator was prepared in the same manner as in Example 1. In the SEM image of the observed cross section, the fiber was crushed at the interface with the electrode, and a thin film was formed.

(Evaluation)
The performance of the actuator was compared from the strain (generated displacement) and speed.

  FIGS. 5A and 5B show a comparison between the displacement and strain generated by the actuator of Example 1 and the displacement and strain generated by the actuator of Comparative Example 1. FIG.

  These actuators are prepared under the same conditions and have the same electrodes.

  The dimensions of the actuator were 1 mm in width, 12 mm in length, and the thickness of the actuator was 150 to 200 μm. The thickness of one electrode was 60 to 70 μm. The thickness of the electrolyte layer was 25 to 50 μm.

Further, the difference in distortion generated between the two actuators was compared using the following equation (2).
ε = 2dδ / (L ² + δ ² ) (2)
In the equation, ε is a strain generated in the actuator, L is a free length, d is a thickness of the actuator, and δ is a displacement due to bending generated in the actuator.

  The strain ε is a parameter indicating the operating characteristics of the actuator, and it can be determined that the larger the strain ε, the higher the operating characteristics of the actuator.

  A periodic voltage having a magnitude of 1 V was applied at frequencies of 0.01 Hz, 0.1 Hz, 1 Hz, and 10 Hz, and the displacement generated by each actuator was recorded using a laser displacement meter.

  Next, the displacement was converted into strain using equation (2).

  It can be seen that the displacement and distortion generated by the actuator of Example 1 is larger than Comparative Example 1.

  Further, the difference in displacement generated by the actuator of Comparative Example 1 and the actuator of Example 1 increases as the frequency of the applied voltage increases.

  In FIG. 5B, the distortion at a low frequency of 0.01 Hz is substantially the same. The reason is that the time during which the CNT gel electrode can be charged and discharged is long and the influence of ion diffusion is small.

  On the other hand, when the frequency increases, the performance of the actuator is greatly influenced by the diffusion efficiency of ions. In this respect, it can be seen that the electrolyte layer of the present invention is superior in ion diffusion characteristics than the conventional gel electrolyte layer.

  A fiber structure with many voids and pores provides a continuous path for ion diffusion. These results suggest that the actuators according to the present invention have increased strain and speed capabilities.

  FIG. 7 shows a comparison result of the strain amount (ε) obtained from the expression (2) of the actuators of Example 1 and Comparative Examples 1 to 3. From the results of FIG. 7, it was confirmed that the amount of strain of the actuator of this example was improved by the presence of the matrix reinforcing material.

  Moreover, the image of the cross section of these actuators was obtained with the scanning electron microscope (SEM) (not shown).

  In the cross-sectional image of the electrolyte layer of Example 1, the fibrous structure including many voids was maintained without being crushed, and the average diameter of the fibers was 200 to 500 nm. Also, almost all (99%) VGCF was embedded in the fibrous structure.

  Further, there was little collapse of the fibrous structure at the interface between the electrode and the electrolyte layer as in Comparative Example 3 described later.

  On the other hand, the structure of Comparative Example 1 was a bulk structure without voids.

  The structure of Comparative Example 2 was a bulk structure without voids as in Comparative Example 1.

  Further, in the structure of Comparative Example 3, the electrolyte layer had a fibrous structure with relatively voids, but significant fiber crushing occurred near the interface between the electrode and the electrolyte layer. A thin film having the same bulk structure as in Comparative Examples 1 and 2 was formed at the interface.

  In Comparative Example 3, when the pressure during hot pressing is reduced so that the fibrous structure of the electrolyte layer is not crushed at the interface with the electrode, the adhesion between the electrode and the electrolyte layer is not sufficient, and the driving is performed several times. It has come off. For this reason, in order to form an actuator that operates stably, it is necessary to apply sufficient pressure during hot pressing, and it has been difficult to suppress the collapse of the fibrous structure.

  Thus, the actuator of this example was able to maintain the porous structure of the electrolyte layer in the manufacturing process such as hot pressing because of the presence of the matrix reinforcing material. Since the porous structure functions as an ion passage that communicates between a pair of electrodes, it is possible to improve ion diffusivity and improve actuator characteristics, particularly on the high frequency side. In addition, since 90% or more of VGCF in the electrolyte layer is embedded in the matrix, it is possible to provide a bending drive type actuator having high deformation response characteristics and a large displacement.

DESCRIPTION OF SYMBOLS 1 Electroactive polymer actuator 2 Electrolyte layer 3, 13 Electrode 4 Terminal 5 Wiring 6 Power supply 7 Cation 8 Anion 9 Polymer fiber 10 Matrix reinforcement 11 The space | gap between fibers 12 The matrix of a porous polymer material 13 High aspect ratio carbon material

Claims (8)

  An actuator having a pair of electrodes and an electrolyte layer disposed between the pair of electrodes, the actuator being deformed when a voltage is applied between the pair of electrodes, wherein the electrolyte layer includes an electrolyte, A matrix of a polymer material having the electrolyte in the gap, and a matrix reinforcing material dispersed in the matrix for reinforcing the matrix, and 90% by weight or more of the matrix reinforcement in the electrolyte layer An actuator, wherein at least a portion of each is embedded in the matrix.   The actuator according to claim 1, wherein the matrix has a structure in which a part of fibers of polymer fibers are fused.   The actuator according to claim 1 or 2, wherein 50% or more of the entire volume of the matrix reinforcing material is embedded in the matrix.   The actuator according to claim 1, wherein the matrix reinforcing material is a carbon material having a high aspect ratio.   The actuator according to claim 1, wherein the high aspect ratio carbon material is at least one selected from VGCF, SWNT, and MWNT.   The actuator according to claim 1, wherein at least one of the electrodes includes a CNT gel. A method of manufacturing an actuator having a pair of electrodes and an electrolyte layer disposed between the pair of electrodes, the actuator being deformed by applying a voltage between the pair of electrodes,
Creating an electrolyte layer having a polymer material to be a matrix material and a matrix reinforcing material for reinforcing the matrix;
Sandwiching the electrolyte layer between two electrodes and thermocompression bonding between both electrodes;
A method for manufacturing an actuator, comprising:   The method for manufacturing an actuator according to claim 7, wherein the matrix is a polymer fiber in which a carbon material that serves as the matrix reinforcing material is embedded.

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