JP2013247740A - Gel actuator - Google Patents

Abstract

A gel actuator that can be driven with a relatively low driving voltage with a relatively simple configuration and that is excellent in responsiveness and generating force is provided.
A vibrating gel member formed using a dielectric polymer material and a pair of electrode members for vibrating the gel member and not electrically connected to each other are provided. In the gel actuator, the pair of electrode members are arranged on the same side with respect to the gel member, and the first electrode member of the pair of electrode members has a voltage applied to the pair of electrode members. When not, the gel actuator is in contact with and supporting the gel member, and the second electrode member is disposed in non-contact with the gel member.
[Selection] Figure 1

Description

  The present invention relates to a gel actuator.

  2. Description of the Related Art Conventionally, there is an increasing need for a small and flexible actuator that can be used as a drive source for medical devices, industrial robots, personal robots, micromachines, and the like.

  As this type of actuator, for example, what is called a flexible electrostatic actuator is known. As such a flexible electrostatic actuator, two flexible printed circuit board films in which three-phase electrodes are embedded in a dielectric resin film so as to have an equal pitch are used. Examples include those formed by laminating the three-phase electrodes so that the positions of the three-phase electrodes are appropriately shifted via the member (see Non-Patent Document 1). According to such a flexible electrostatic actuator, by applying a voltage of a three-phase sine wave to the three-phase electrode of each substrate film, both the substrate films are vibrated so as to have different sine waves, and driven as an actuator. Can be made.

  On the other hand, in addition to the above, for example, an oscillating gel member formed of a dielectric polymer material and a pair of electrode members for vibrating the gel member and not electrically connected to each other Gel actuators with such are known.

  As this type of gel actuator, for example, a gel-like ion conductive layer formed of an ionic liquid and a polymer material, and a carbon nanotube and an ionic liquid formed on both sides of the ion conductive layer are formed. And a pair of gel-like electrode layers (ICPF actuator) (see Non-Patent Document 2). According to such an ICPF actuator, by applying a voltage to each ion conductive layer and applying a potential difference to these ion conductive layers, the ion conductive layer and each electrode layer can be vibrated integrally and driven as an actuator. it can.

  In addition, the gel actuator further includes, for example, a gel member formed of polyvinyl chloride (PVC) and a plasticizer, and a pair of electrode members, and the pair of electrode members are mutually connected to the PVC gel member. Examples include those formed so as to be in contact from the opposite side (PVC gel actuator) (see Non-Patent Document 3). According to such a PVC gel actuator, by applying a voltage to a pair of electrode members and applying a potential difference therebetween, the gel member can be vibrated and driven as an actuator.

Toshiki Niino, Saku Egawa, and Toshiro Higuchi, "High-efficiency Electrostatic Actuator", Proceeding of the 6th International Conference on Micro Electro Mechanical Systems (MEMS '93), pp. 236-241. Ken Mukai, Kinji Asaka, Kenji Kyohara, Takushi Sugino, Ichiro Takeuchi, Takanori Fukushima, Takuzo Aida, "High performance fully plastic actuator based on ionic-liquid-based bucky gel", Electrochimica Acta 53 (2008), pp. 5555-5562 . Misaki Yamano, Naoki Ogawa, Minoru Hashimoto, Midori Takasaki, Toshihiro Hirai, "A Contraction Type Soft Actuator using Poly Vinyl Chloride Gel", Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics Bangkok, Thiland, February 21-26, 2009, pp.745-750.

  However, since the above-described flexible electrostatic actuator needs to be immersed in an insulating liquid, the configuration is complicated, and a high drive voltage is required. Further, the ICPF actuator described above is driven with a relatively low driving voltage and has a relatively high response (frequency per unit time, that is, frequency), but on the other hand, generated force (amount of deformation due to driving) is small. Have the problem. Furthermore, in the above-described PVC gel actuator, since the gel member vibrates so as to crawl between the pair of electrode members, the responsiveness is low due to the collision with the electrode members and by limiting the vibration region. There's a problem.

  An object of the present invention is to provide a gel actuator that has a relatively simple configuration, can be driven with a relatively low driving voltage, and is excellent in responsiveness and generating force.

In order to solve the above problems, the gel actuator according to the present invention is:
A gel actuator comprising a vibratable gel member formed using a dielectric polymer material and a pair of electrode members for vibrating the gel member and not electrically connected to each other. And
The pair of electrode members are arranged on the same side with respect to the gel member,
Of the pair of electrode members, the first electrode member is in contact with and supports the gel member, and the second electrode member is configured such that when no voltage is applied to the pair of electrode members, It is arranged in non-contact with the gel member.

  Here, the dielectric polymer refers to a polymer having a relative dielectric constant of 2 to 10. In addition, the relative permittivity is obtained by forming electrodes on both surfaces of a dielectric polymer, and using an LCR meter to determine the capacitance between the electrodes, an alternating voltage of a frequency of 100 kHz to 1 MHz and a voltage of 1 to 1.5 V. Measure by applying.

According to such a configuration, the pair of electrode members are arranged on the same side with respect to the gel member, the gel member is supported by the first electrode member of the pair of electrode members, and the second electrode member is defined as the gel member. By disposing in the non-contact manner, it is not necessary to adopt a configuration in which the substrate is immersed in an insulating liquid like the above-described flexible electrostatic actuator.
Further, when a configuration is adopted in which the gel member is not in contact with the second electrode member even when a voltage is applied to the pair of electrode members, the gel member for supporting the gel member is used as the electrode member. The gel member can be vibrated with a relatively low driving voltage, the frequency of the vibration can be increased, and the amount of deformation of the gel member due to vibration can be reduced. Can be bigger.
Furthermore, when a configuration is adopted in which the gel member comes into contact with the second electrode member when a voltage is applied to the pair of electrode members, the gel member is placed on the side opposite to the second electrode member. Since it can be vibrated without colliding with the second electrode member, the gel member can be vibrated with a relatively low driving voltage, and the frequency of the vibration and the deformation amount of the gel member can be increased. .
In addition, the gel member and the second electrode can be easily manufactured as compared with the case where the second electrode member is separated from the gel member while the pair of electrode members are arranged on the opposite sides. It becomes easy to set the interval with the member with high accuracy.
Accordingly, it is possible to provide a gel actuator that is relatively simple in structure, can be driven with a relatively low driving voltage, and is excellent in responsiveness and generating force.

In the gel actuator,
The first gel member and the first gel member are laminated on the opposite side of the first gel member to the pair of electrode members, with the first gel member partially spaced from each other. It is preferable to have a 2nd gel member harder than this gel member.

  According to such a configuration, since the rigidity of the second gel member is relatively high, the gel actuator is configured so that the pair of electrode members, the first gel member, and the second gel member are used while the second gel member is used as the base portion. It becomes possible to set it as the structure which has a laminated structure by which a gel member is laminated | stacked repeatedly. Thereby, it becomes possible to enlarge the deformation amount of the whole gel member, and it can be applied to a wider range of uses.

The first electrode member is formed in a lattice shape having a plurality of openings,
It is preferable that a plurality of the second electrode members are provided, and the plurality of second electrode members are respectively disposed in the opening.

  According to this configuration, the gel member can form a more complicated vibration pattern, and thus can be applied to a wider range of applications.

In the gel actuator,
The gel member is preferably formed using a plasticizer in addition to the dielectric polymer material.

  According to such a configuration, the gel member is more flexible and thus more easily vibrates.

In the gel actuator,
The dielectric polymer material is preferably polyvinyl chloride.

According to such a configuration, the gel member can be more easily manufactured, and the gel member becomes more mechanically and chemically stable.
There is an advantage.

  As described above, according to the present invention, it is possible to provide a gel actuator that has a relatively simple configuration, can be driven with a relatively low driving voltage, and is excellent in responsiveness and generating force.

The schematic perspective view which shows typically the gel actuator of 1st Embodiment of this invention. Schematic exploded perspective view schematically showing the gel actuator of the present embodiment Schematic which shows an example of the manufacturing method of a gel member Schematic side cross-sectional view schematically showing a state in which the gel actuator of the present embodiment is driven The schematic exploded perspective view which shows typically the gel actuator of 2nd Embodiment of this invention Schematic side cross-sectional view schematically showing a state in which the gel actuator of the present embodiment is driven The schematic top view which shows typically a pair of electrode member used for the gel actuator of 3rd Embodiment of this invention. The schematic side view which shows typically a part of gel actuator of other embodiment of this invention The state in which the gel actuator produced in Example 1 is evaluated, and a schematic perspective view showing the gel actuator in an enlarged manner The graph which shows the evaluation result of Example 1 The graph which shows the evaluation result of the comparative example 1

  Hereinafter, embodiments of the gel actuator of the present invention will be described.

  First, the gel actuator according to the first embodiment of the present invention will be described. As shown in FIGS. 1 and 2, the gel actuator 1 of the present embodiment is a vibrating gel member 3 formed using a dielectric polymer material, and for vibrating the gel member 3. A pair of electrode members 5 that are not electrically connected to each other, wherein the pair of electrode members 5 are arranged on the same side with respect to the gel member 3, and the pair of electrode members 5, the first electrode member 5 a is in contact with and supports the gel member 3, and the second electrode member 5 b is configured so that when no voltage is applied to the pair of electrode members 5, It is arranged in non-contact with the gel member 3. Furthermore, the gel actuator 1 includes a base portion 9, and a pair of electrode members 5 are placed on the base portion 9.

  The gel member 3 is formed using a dielectric polymer material. The gel member 3 is preferably formed using the dielectric polymer material and a plasticizer. By forming using a plasticizer, the gel member 3 is more flexible and thus more easily vibrates.

The dielectric polymer is a polymer having a relative dielectric constant of 2 to 8, preferably 3 to 8. Examples of such a material made of a dielectric polymer include polyvinyl chloride (PVC), polyvinylidene fluoride (PVdF), polyvinyl alcohol (PVA), and the like. Of these, PVC and PVdF are preferred. When the dielectric polymer material is PVC or PVdF, there is an advantage that the moisture absorption of the gel member is reduced and the deterioration in the air is reduced.
Of these, the dielectric polymer material is more preferably PVC. Thereby, the gel member 3 becomes easier to produce, and the gel member 3 becomes more mechanically and chemically stable.

  Examples of the plasticizer include dibutyl adipate (DBA), dioctyl phthalate (DOP), dinormal octyl phthalate (DBP), diisodecyl phthalate (DIDP), ethylene carbonate (EC), and propylene carbonate (PC). It is done. Of these, DBA and DOP are preferred. When the plasticizer is DBA or DOP, there is an advantage that it can be gelled relatively easily.

  Examples of the combination of the dielectric polymer material and the plasticizer include a combination of PVC and DBA, a combination of PVC and DOP, PVdF, EC, and PC.

  Although the shape of the gel member 3 is not specifically limited, For example, a sheet-like shape is employable. Moreover, even if the gel member 3 is comprised from one sheet | seat, the some sheet | seat may be laminated | stacked and comprised. In this embodiment, it is comprised from the 1st 1st gel sheet (1st gel member) 3a.

  The thickness of the first gel sheet 3a is preferably 0.2 to 3 mm. When the thickness is within this range, there is an advantage that a relatively large displacement can be obtained even at a relatively low voltage.

  Moreover, it is preferable that the Young's modulus of the gel sheet 3a is 1-90 kPa, for example. Thus, when the Young's modulus is 1 to 90 kPa, there is an advantage that a flexible gel actuator can be realized and the amount of deformation (displacement) can be increased. Such Young's modulus is measured by, for example, using a gel sheet having a width of 3 mm, a length of 7 mm, and a thickness of 500 μm as a sample and performing a tensile test using a micro material testing machine manufactured by Tech Giken.

  For example, as shown in FIG. 3, the first gel sheet 3a can be manufactured as follows. That is, a powdery dielectric polymer material (PVC in FIG. 3) and a plasticizer (DBA in FIG. 3) are added to an organic solvent (THF in FIG. 3), and stirred and dissolved with a magnetic stirrer or the like. The obtained solution can be formed into a sheet by extending in a box-shaped container or the like and drying. Moreover, it can form in the sheet form of a desired shape by pouring the solution obtained above into a casting_mold | template etc. and drying. Examples of the organic solvent include tetrahydrofuran (THF).

  Moreover, the softness | flexibility (namely, rigidity) of the 1st gel sheet 3a can be adjusted to a desired thing by setting the compounding quantity of a dielectric polymer material and a plasticizer suitably. For example, the blending amount of the dielectric polymer material and the plasticizer is preferably 1 part by mass: 1 part by mass to 1 part by mass: 10 parts by mass.

  A pair of electrode member 5 is distribute | arranged to the same side with respect to the gel member 3 which is the 1st gel sheet 3a. In the embodiment shown in FIG. 1, the pair of electrode members 5 is disposed below the gel member 3. The pair of electrode members 5 can be formed of a metal foil such as a copper (Cu) foil, or a conductive material such as a bucky gel in which carbon nanotubes are mixed with an ionic liquid. In addition, the pair of electrode members 5 may be formed by laminating electrode layers formed of the metal foil or conductive material on the surface of the insulating substrate.

  Of the pair of electrode members 5, the first electrode member 5a is an electrode member for a ground electrode. The shape of the first electrode member 5a is not particularly limited, but in the present embodiment, it is formed in a comb shape. The number of the comb teeth is not particularly limited.

  The thickness of the first electrode member 5a is preferably 100 to 600 μm. When the thickness of the first electrode member 5a is 100 to 600 μm, there is an advantage that the gel actuator 1 can be made more flexible. In addition, when the gel actuator 1 is bent, there is an advantage that peeling between the gel member 3 and the first electrode member 5a is less likely to occur. The first electrode member 5a is placed on the base portion 9 and arranged below the gel member 3, and supports the gel member 3 from below.

  The second electrode member 5b is an electrode member for a drive electrode. The shape of the second electrode member 5b is not particularly limited, but is formed in a comb shape like the first electrode member 5a. Moreover, the comb-tooth part of this 2nd electrode member 5b is inserted between the comb-tooth parts of the 1st electrode member 5a. The number of the comb teeth is not particularly limited. Further, the second electrode member 5b may have a flat plate shape or a lattice shape as described later.

  The thickness of the second electrode member 5b is set to be smaller than the thickness of the first electrode member 5a, whereby the second electrode member 5b is not in contact with the gel member 3. . The thickness of the second electrode member 5b is preferably 10 to 100 μm. When the thickness of the second electrode member 5b is 10 to 100 μm, there is an advantage that the gel actuator 1 can be made more flexible. Further, when the gel actuator 1 is bent, there is an advantage that peeling between the base portion 9 and the second electrode member 5b hardly occurs.

  In the present embodiment, the gap between the second electrode member 5b and the gel member 3 is before the gel member 3 vibrates (when no voltage is applied to the pair of electrode members 5) and when it vibrates (a pair of). When the voltage is applied to the electrode member, the gel member 3 is appropriately set so as not to contact the second electrode member 5b. For example, the distance between the second electrode member 5 b and the gel member 3 is preferably 100 to 500 μm in a state where no voltage is applied to the pair of electrode members 5. When the distance is 100 to 500 μm, there is an advantage that the response speed and generated force of the actuator 1 can be increased.

  A direct voltage or an alternating voltage is applied to the pair of electrode members 5. The DC voltage can be set to, for example, 100 to 600V, more preferably 400 to 600V. The voltage of the AC voltage is, for example, 100 to 600 V, more preferably 400 to 600 V, and the frequency is, for example, more than 0 and 1 kHz or less, more preferably more than 0 Hz and preferably 200 Hz or less, more than 20 Hz and 200 Hz or less. Is more preferable. Thus, the gel actuator 1 can be driven by vibrating the gel member 3 with a relatively low voltage, that is, a drive voltage. In addition, when applying DC voltage, the gel member 3 can be vibrated by repeating an application and an application stop.

The gel actuator 1 is configured such that, for example, when an alternating voltage is applied to the pair of electrode members 5, as shown in FIG. 4, ions in the first gel sheet 3 a (for example, chloride ions Cl ^{− in} the case of PVC). However, it is attracted to the second electrode member 5b, and in this state, the movement in the direction further attracted to the second electrode member 5b and the direction away from the second electrode member 5b are repeated. Thereby, the 1st gel sheet 3a vibrates in the perpendicular direction of the 1st gel sheet 3a. Moreover, a pair of electrode member 5 can also be made into a three-phase electrode, and, thereby, the 1st gel sheet 3a can be vibrated in a sine wave form.

  According to the gel actuator 1 of the present embodiment, since the pair of electrode members 5 are not electrically connected to each other, and the gel member 3 and the second electrode member 5b are in contact with each other, no discharge occurs. There is no need to adopt a configuration in which the substrate is immersed in an insulating liquid like a flexible electrostatic actuator.

  Next, a gel actuator according to a second embodiment of the present invention will be described. In the present embodiment, only different parts from the first embodiment will be described, and the same description will not be repeated.

  As shown in FIG. 6, in the gel actuator 1 of the present embodiment, the gel member 3 is disposed on the first gel sheet 3a on the opposite side of the pair of electrode members 5 in the first gel sheet 3a. 3a and a second gel sheet (second gel member) 3b that is partially laminated and is harder than the first gel sheet 3a. Moreover, the 2nd gel sheet 3b has the projection part 3ba.

  The second gel sheet 3b is harder than the first gel sheet 3a, that is, the Young's modulus of the second gel sheet 3b is larger than the Young's modulus of the first gel sheet 3a. For example, as described above, when the Young's modulus of the first gel sheet 3a is 1 to 90 kPa, the Young's modulus of the second gel sheet 3b is preferably 20 to 200 kPa. Thus, there exists an advantage that it is enough to support the 1st gel sheet 3a because Young's modulus is 20-200 kPa.

  Moreover, it is preferable that the thickness (the thickness of the site | part which does not have projection part 3ba) of the 2nd gel sheet 3b is 100-500 micrometers. When the thickness of the second gel sheet 3b is 100 to 500 μm, there is an advantage that the second gel sheet 3b can be relatively easily manufactured, and the second gel sheet 3b can easily vibrate, so that the amount of change can be increased.

  Moreover, the 2nd gel sheet 3b has the projection part 3ba contact | abutted with the 1st gel sheet 3a so that the 2nd gel sheet 3b may be laminated | stacked at intervals with the 1st gel sheet 3a. The protrusion 3ba is in contact with the side opposite to the second electrode member 5b of the vibrable portion of the first gel sheet 3a. That is, the 2nd gel sheet 3b is contact | abutting on the opposite side to the side with a clearance gap in the site | part with a clearance gap with the 2nd electrode member 5b in the 1st gel sheet 3a. Further, the protrusion 3ba is configured to press the first gel sheet 3a toward the second electrode member 5b when an alternating voltage is applied to the pair of electrode members 5. In the present embodiment, the protrusion 3ba is provided so as to be partially spaced from the first gel sheet 3a.

Since the gap is thus provided, the vibration of the first gel sheet 3a can be generated more largely without being inhibited, so that the deformation amount of the entire gel member 3 can be further increased. Such an interval is preferably 100 to 500 μm. When the distance is within this range, there is an advantage that the production is relatively easy and the deformation of the gel sheet 3a is not hindered.
In the present invention, the second gel sheet 3b is partially spaced from the first gel sheet 3a by interposing another member between the first gel sheet 3a and the second gel sheet 3b. You may be comprised so that it laminated | stacked.

  According to this embodiment, when an AC voltage is applied to the pair of electrode members 5, the second gel sheet 3b vibrates together with the first gel sheet 3a as shown in FIG. Moreover, since the rigidity of the second gel sheet 3b is relatively high, the gel actuator 1 includes the pair of electrode members 5, the first gel sheet 3a, and the second gel sheet 3b while using the second gel sheet 3b as a base portion. It becomes possible to make it the structure which has the laminated structure by which these are laminated | stacked repeatedly.

  Next, a gel actuator according to a third embodiment of the present invention will be described. In the present embodiment, only different parts from the first and second embodiments will be described, and the same description will not be repeated.

  As shown in FIG. 7, in the gel actuator 1 of the present embodiment, the first electrode member 5a is formed in a lattice shape having a plurality of openings 5aa, and a plurality of second electrode members 5b are provided. The plurality of second electrode members 5b are respectively disposed in the openings 5aa.

  According to the gel actuator 1 of the present embodiment, the gel member 3 can form a more complicated vibration pattern, for example, a traveling wave can be generated on the surface portion of the gel member 3.

  In the third embodiment, the first electrode member 5a is formed in a lattice shape having a plurality of openings, and the second electrode member 5b is arranged in the openings. Contrary to such a configuration, there may be mentioned a mode in which the second electrode member 5b is formed in a lattice shape having a plurality of openings, and the first electrode member 5a is arranged in the openings. . In this configuration, the gel member 3 is supported by the first electrode member 5a protruding through the lattice of the second electrode member 5b.

Moreover, in the said embodiment, when the voltage was applied to a pair of electrode member, the structure which a gel member did not contact with a 2nd electrode member was employ | adopted, However, when the said voltage is applied, a gel member is employ | adopted. A configuration may be adopted in which is in contact with the second electrode member.
For example, as shown partially in FIG. 8, the second electrode member 5b is formed in a lattice shape having a plurality of openings, and when a voltage is applied to the pair of electrode members 5, the gel member 3 (FIG. 8). Then, it is also possible to adopt a configuration in which the first gel sheet 3a) enters the opening. In this case, unlike the above, the first electrode member 5a is not disposed between the lattices of the second electrode member 5b.
According to this configuration, when a voltage is applied to the pair of electrode members 5, the gel member 3 collides with the second electrode member 5b, and a part of the gel member 3 enters the lattice. The amplitude of the vibration 3 can be increased. Moreover, the gel member 3 that has entered the lattice can be temporarily held, that is, a holding force that keeps the deformed state can be exhibited.

  The gel actuator of the present invention exemplified in the above-described embodiment can be applied as an actuator for driving a small pump, a touch panel, a small robot for searching inside the meridian tube, and the like.

  As described above, the gel actuator 1 of this embodiment is for vibrating the gel member 3 formed using a dielectric polymer material, and for vibrating the gel member 3, and are electrically connected to each other. The gel actuator 1 includes a pair of electrode members 5 that are not connected, and the pair of electrode members 5 are arranged on the same side with respect to the gel member 3. The first electrode member 5a is in contact with and supports the gel member, and the second electrode member 5b is not in contact with the gel member 3 when no voltage is applied to the pair of electrode members. It is arranged in.

According to this configuration, the pair of electrode members 5 are arranged on the same side with respect to the gel member 3, the gel member 3 is supported by the first electrode member 5 a of the pair of electrode members 5, and the second electrode By disposing the member 5b in a non-contact manner with the gel member 3, it is not necessary to employ a configuration in which the member 5b is immersed in an insulating liquid like a flexible electrostatic actuator.
Further, when a configuration is adopted in which the gel member 3 is not in contact with the second electrode member 5b even when a voltage is applied to the pair of electrode members 5, a gel for supporting the gel member 3 is used. Since the member 3 can be vibrated without colliding with the second electrode member 5b, the gel member can be vibrated with a relatively low driving voltage, and the frequency of the vibration can be increased, and The amount of deformation of the gel member due to vibration can be increased.
Furthermore, even when a configuration is adopted in which the gel member 3 is in contact with the second electrode member 5b when a voltage is applied to the pair of electrode members 5, the side opposite to the second electrode member 5b In this case, since the gel member 3 can be vibrated without colliding with the second electrode member 5b, the gel member 3 can be vibrated with a relatively low driving voltage, and the frequency of the vibration and the gel member can be vibrated. The amount of deformation of 3 can be increased.
In addition, compared to the case where the second electrode member 5b is separated from the gel member 3 while the pair of electrode portions 5 are disposed on the opposite sides, the gel member 3 It becomes easy to set the distance from the second electrode member 5b with high accuracy.
Therefore, it is possible to provide the gel actuator 1 that can be driven with a relatively low driving voltage with a relatively simple configuration and is excellent in responsiveness and generating force.

  In the gel actuator 1, the gel member 3 includes a first gel member (gel sheet) 3a and the first gel member 3a opposite to the pair of electrode members 5 in the first gel member 3a. And a second gel member 3b harder than the first gel member 3a, which is partially laminated with a gap.

  According to this configuration, since the rigidity of the second gel member 3b is relatively high, the gel actuator 1 can be used as the pair of electrode members 5 and the first gel member while the second gel member 3b is used as a base portion. It becomes possible to set it as the structure which has the laminated structure in which 3a and the 2nd gel member 3b are laminated | stacked repeatedly. Thereby, it becomes possible to enlarge the deformation amount of the whole gel member 3, and it can be applied to a wider use.

  In the gel actuator 1, the first electrode member 5a is preferably formed in a lattice shape, and the second electrode member 5b is preferably disposed between the lattices. According to such a configuration, the gel member 3 can form a more complicated vibration pattern, and thus can be applied to a wider range of uses.

  In the gel actuator 1, the dielectric polymer material is preferably polyvinyl chloride. According to such a configuration, the gel member 3 becomes easier to produce, and the gel member 3 becomes more mechanically and chemically stable.

  The gel actuator according to the present invention is not limited to the configuration of the above embodiment. Moreover, the operation effect of the gel actuator according to the present invention is not limited to the above-described operation effect. The gel actuator according to the present invention can be variously modified without departing from the gist of the present invention.

  Hereinafter, the present invention will be described more specifically with reference to examples and comparative examples.

<Example 1>
As shown in FIG. 3, PVC powder as a dielectric polymer material and DBA as a plasticizer were dissolved in THF as an organic solvent in a blending amount of 1 part by mass: 5 parts by mass. The obtained solution was placed in a petri dish and dried to prepare a gel sheet having a thickness of 500 μm. The Young's modulus of the gel sheet was measured with a micro material tester manufactured by Tech Giken Co., Ltd., and was 25 kPa.
On the other hand, a U-shaped copper first electrode member (for ground electrode) having a thickness of 1000 μm and a rectangular copper second electrode member having a thickness of 500 μm disposed in the recessed portion of the electrode member (driving) A pair of electrode members was constructed. The pair of electrode members is placed on a glass plate as a base portion, and the gel sheet prepared above is placed on the first electrode member among the placed pair of electrode members, and FIG. A gel actuator as shown in FIG. In this actuator, the distance between the gel sheet and the second electrode member was 500 μm. Such a gel actuator was clamped and fixed by an experimental jig as shown in FIG. 9, and an experiment for evaluating the vibration of the gel sheet was conducted.

And the alternating voltage of 500V was applied to a pair of electrode member, and the relationship between the frequency of a gel sheet at this time, the maximum displacement, and both amplitude (deformation amount) was investigated. The results are shown in FIG. As shown in FIG. 10, the gel sheet is attracted to the electrode member for the drive electrode by 75 μm by the application of the AC voltage, and from this state (centered on this position), further vibrates with both amplitudes (both amplitudes) of 35 μm on both sides. did. The frequency of the voltage corresponds to the frequency of the gel member, and the frequency of this vibration was 157 Hz.
Note that the maximum displacement shown in FIG. 10 represents the difference between the position of the gel member in a state where no voltage is applied and the position of the lower limit of amplitude during vibration after voltage application.
<Example 2>
A gel actuator similar to that shown in FIGS. 5 and 6 was produced as follows.
That is, in the same manner as in Example 1, a rectangular first gel sheet having a thickness of 500 μm and a Young's modulus of 25 kPa was produced.
Moreover, the PVC powder and DBA were dissolved in THF in the same manner as in Example 1 except that the mass part of PVC and DBA was 1: 3.3. The obtained solution was put into a mold for forming the same shape as the second gel sheet 3b (see FIG. 5) of the second embodiment, and dried to prepare a second gel sheet. In the second gel sheet, the thickness of the portion without the protrusion was 1000 μm, the protrusion length of the protrusion was 500 μm, and the Young's modulus was 125 kPa.
Furthermore, a pair of electrode members is composed of a comb-shaped copper first electrode member (grounding electrode) having a thickness of 300 μm and a comb-shaped copper second electrode member (driving electrode) having a thickness of 100 μm. Configured. Due to the difference in thickness, the distance between the gel member and the second electrode member was set to 200 μm.
The pair of electrode members are placed on a glass plate as a base portion, and the first gel sheet and the second gel sheet are laminated in this order on the first electrode member among the placed pair of electrode members. Further, a pair of electrode members, a first gel sheet, and a second gel sheet were laminated in this order on the second gel sheet to produce a gel actuator.
And the voltage of 500V was applied to a pair of electrode member, and the frequency characteristic of the gel member was investigated. As a result, at the DC voltage, the maximum displacement in the vibration of the gel member was 45 μm. Further, in the AC voltage, when the frequency was 160 Hz, both amplitudes were 62.5 μm and the maximum displacement was 87.5 μm.

<Comparative Example 1>
A gel sheet having a thickness of 600 μm was produced in the same manner as in Example 1. The Young's modulus of this gel sheet was 25 kPa.
A pair of electrode members is composed of a first electrode member (grounding electrode) formed of an aluminum plate and a stainless steel grid-like second electrode member (driving electrode, gap: 640 μm, wire width: 180 μm). Configured. Of the pair of electrode members, a gel sheet is placed on the first electrode member, a second electrode member is placed on the gel sheet, and the gel sheet is sandwiched from the opposite side by the pair of electrode members. A gel actuator was prepared.
And the voltage was applied to a pair of electrode member, and the maximum displacement of the gel member was measured. The results are shown in FIG. As a result, when a DC voltage of 400 V was applied, the maximum displacement was 73 μm. Further, when an AC voltage of 400 V was applied and the frequency characteristics of both amplitudes were measured, it was 37 μm at 10 Hz and 0.92 μm at 100 Hz.

  As a result, it was found that Examples 1 and 2 were superior to Comparative Example 1 in terms of responsiveness and generative force because the displacement was larger at a higher frequency.

1: gel actuator, 3: gel member, 3a: first gel member, 3b: second gel member, 5: pair of electrode members, 5a: first electrode member, 5b: second electrode member, 9 : Base part

Claims (5)

A gel actuator comprising a vibratable gel member formed using a dielectric polymer material and a pair of electrode members for vibrating the gel member and not electrically connected to each other. And
The pair of electrode members are arranged on the same side with respect to the gel member,
Of the pair of electrode members, the first electrode member is in contact with and supports the gel member, and the second electrode member is configured such that when no voltage is applied to the pair of electrode members, A gel actuator characterized by being arranged in non-contact with a gel member.   The first gel member and the first gel member are laminated on the opposite side of the first gel member to the pair of electrode members, with the first gel member partially spaced from each other. The gel actuator according to claim 1, further comprising a second gel member harder than the gel member.   The gel actuator according to claim 1, wherein the first electrode member is formed in a lattice shape having a plurality of openings, and the second electrode member is disposed in the openings. .   The gel actuator according to claim 1, wherein the gel member is formed using a plasticizer in addition to the dielectric polymer material.   The gel actuator according to claim 1, wherein the dielectric polymer material is polyvinyl chloride.

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