JP4385091B2 - Linear motion artificial muscle actuator and method for manufacturing linear motion artificial muscle actuator - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to, for example, a linear motion artificial muscle actuator using an ion conductive polymer and a method of manufacturing the linear motion artificial muscle actuator.
[0002]
[Prior art]
Today, machines realize high-speed, high-output, high-precision operations that humans cannot do, and contribute greatly to society and industry. Recently, other aspects such as downsizing and flexibility are also required. In particular, a safe and soft actuator is desirable for humans and robots that coexist in human living environments.
[0003]
One of the actuators attracting attention in these circumstances is a polymer actuator. The polymer actuator is capable of biological soft operation and is expected as an artificial muscle actuator.
[0004]
Since the 1980s, research on stimuli-responsive polymer gels has been widely conducted mainly in Japan, and has received great interest from the medical, welfare, robot and hobby industries. There are various driving methods for the polymer actuator system, such as heat, pH, solvent exchange, and electric field. Among them, the electric field responsive polymer actuator is easy to control and is considered to be highly responsive.
[0005]
Therefore, an IPMC (Ionic Polymer-metal Composites) actuator in which noble metals such as gold and platinum are bonded to both sides of a fluorine-based ion exchange resin film using an electroless plating method has been proposed as one of polymer actuators today. Yes.
[0006]
In 1991, this IPMC actuator was found to be bent at a high speed in response to a low voltage of about 1 V, in which an ion exchange resin / noble metal joint, which had been studied as a fuel cell material, was discovered. . FIG. 10 shows an experimental example in which the joined body is bent. When a voltage is applied to the electrodes on both sides of the joined body in the state of FIG. 10 (center), the joined body bends to the + side at high speed as shown in FIG. 10 (left side) and (right side).
[0007]
IPMC has the following characteristics. That is,
(1) Drive with low voltage (about 1-2V).
(2) The response speed is fast (> 100 Hz).
(3) Durability and chemical stability (continuous use over 100,000 times)
(4) There is flexibility.
(5) Operation in water is possible.
(6) There is no operation sound.
[0008]
In the IPMC actuator, since the film itself is an actuator, it can be reduced in size and weight. Also, if the membrane dries, it does not operate, but can be activated if it is swollen and conductive.
[0009]
[Non-Patent Document 1]
Satoshi Azumi and Keisuke Oguro “Discovery of stimulus response function by compounding” Chemical Engineering, 2001, Vol. 46, no. 10, pp. 20-24 [0010]
[Problems to be solved by the invention]
The above-mentioned IPMC actuator has been applied to an active catheter or a small robot imitating a biological motion, and is expected as a practical soft actuator. However, the above-described IPMC actuator can only be bent with a single film, and the force to be generated as an actuator is small.
[0011]
Therefore, when the voltage applied to the IPMC actuator is increased, the generated force increases, but there is a problem that the polymer film must be operated within a range where electrolysis does not occur.
[0012]
An object of the present invention is to convert a bending motion into a linear motion by a combination of membranes constituting a polymer actuator, so that a displacement as an actuator can be increased and a force generated as an actuator can be increased. The object is to provide an artificial muscle actuator.
[0013]
Furthermore, another object of the present invention is to realize an efficient motion by combining a linear motion with energization and a release time with non-energization in application to a robot, and without arranging a mechanical structure. Another object of the present invention is to provide a linear motion artificial muscle actuator capable of realizing an open operation by the flexibility of a polymer actuator.
[0014]
Furthermore, another object of the present invention is to provide a method for manufacturing a linear motion artificial muscle actuator that can easily manufacture a linear motion artificial muscle actuator comprising a combination of membranes that can achieve the above-described object.
[0015]
[Means for Solving the Problems]
In order to solve the above-described problems and achieve the above object, a linear motion artificial muscle actuator according to the invention of claim 1 is a linear motion artificial muscle actuator, and is formed by extending a pair of thin resin films having ionic conductivity in the longitudinal direction. A pair of polymer actuators arranged in series in the direction and flexibly connected between the thin resin films, and the pair of polymer actuators arranged in parallel to the longitudinal direction, the pair of polymer actuators A pair of insulation fixing means for fixing both ends of each other in an insulated state, and when the pair of polymer actuators arranged in parallel is energized, each of the thin resin films warps outward. It bends in the manner described above and bends at the connecting portion between the thin resin films, thereby operating to narrow the distance between the pair of insulating fixing means .
[0016]
The invention of claim 2 is the invention of the first aspect, the connection portion of the pair of polymer actuator consists connecting thin resinous film having ionic conductivity configured thinner than the pair of thin-shaped resin film The structure connected by the flexible material may be sufficient.
[0017]
Further, the linear motion artificial muscle actuator according to the invention of claim 3 is a linear motion artificial muscle actuator, and m (m is a natural number of 2 or more) thin resin films having ionic conductivity in series in the longitudinal direction. is disposed, and each of every pair of thin-shaped resin film is connected with a flexible material made of connected thin-shaped resin film having ionic conductivity composed of n (n is a natural number of 2 or more) number of polymer actuator, The n polymer actuators are arranged in parallel to the longitudinal direction, and the central portions of the thin resin films facing each other are fixed in an insulated state for each of the two polymer actuators adjacent to the longitudinal direction. and an insulating fixing means, the upon is energized each polymer actuator, each thin-shaped resin film of the polymer actuator is bent so raised warp outward by the flexible member is bent Characterized in that it operates to reduce the distance of the respective insulating fixing means arranged in the longitudinal direction.
[0018]
The invention according to claim 4, said in the invention of claim 3, prior SL two per polymer actuator adjacent polymer actuator wherein the thin resinous films central portion of each other is fixed by the insulating fixing means facing with respect to the longitudinal direction of the column, with the combination of the polymer actuator columns adjacent to each other in the orthogonal direction, shifting the positional relationship of the connecting thin shaped resin film in one and the other of the polymer actuator columns with respect to the longitudinal direction May be arranged.
[0019]
Further, the linear motion artificial muscle actuator according to the invention of claim 5 is a linear motion artificial muscle actuator, wherein a pair of thin resin films having ionic conductivity are arranged in series in the longitudinal direction, and the thin resin film A pair of polymer actuators that are flexibly connected to each other and the pair of polymer actuators are arranged in parallel in the longitudinal direction, and both ends of the pair of polymer actuators are fixed in an insulated state. A pair of insulating fixing means; and an energizing means for energizing each thin resin film so as to bend and warp outward when the pair of polymer actuators arranged in parallel is energized. It is characterized by.
[0020]
According to a sixth aspect of the present invention, in the fifth aspect of the invention, the energizing means may make the polarities of the outer surface and the inner surface of the pair of polymer actuators arranged in parallel differ.
[0021]
According to a seventh aspect of the present invention, in the sixth aspect of the invention, the energizing means may have the outer surfaces of the pair of polymer actuators arranged in parallel as a positive pole and the inner surface as a negative pole.
[0022]
The linear motion artificial muscle actuator according to the invention of claim 8 is a linear motion artificial muscle actuator, wherein m thin resin films (m is a natural number of 2 or more) having ionic conductivity are arranged in series in the longitudinal direction. is disposed, and each of every pair of thin-shaped resin film is connected with a flexible material made of connected thin-shaped resin film having ionic conductivity composed of n (n is a natural number of 2 or more) number of polymer actuator, The n polymer actuators are arranged in parallel to the longitudinal direction, and the central portions of the thin resin films facing each other are fixed in an insulated state for each of the two polymer actuators adjacent to the longitudinal direction. Insulating and fixing means, and energizing means for energizing the thin resin films so that the thin resin films warp outward and bend when the polymer actuators arranged in parallel are energized. To do.
[0023]
According to a ninth aspect of the present invention, in the above-mentioned eighth aspect of the invention, the energizing means may make the polarities of the outer surface and the inner surface of the polymer actuators arranged in parallel differ.
[0024]
The invention of claim 10 is the invention of the claim 9, wherein the energizing means, the outer surfaces of the polymer actuator disposed in the parallel positive electrode may be the inner surface as a negative pole.
[0025]
The invention of claim 11 is the invention according to any one of the above claims 8-10, before Symbol two per polymer actuator adjacent the thin-shaped resin film central portion of each other facing said insulation with respect to the longitudinal direction of the fixed polymer actuator column fixing means, with the allowed Awa set of polymer actuator columns adjacent to each other in the orthogonal direction, for the connection of one and the other of the polymer actuator columns with respect to the longitudinal direction The positional relationship of the thin resin film may be shifted.
[0026]
The linear motion artificial muscle actuator manufacturing method according to the invention of claim 12 is a linear motion artificial muscle actuator manufacturing method, comprising a plurality of first thin resin films which are rectangular and have a first thickness. A plurality of the first thin resin films arranged in one direction at a constant interval are arranged in two stages in the one direction, are rectangular, and are second thinner than the first thickness. A plurality of second thin resin films having a thickness of 1 mm are sandwiched at edge portions between the two stages of the first thin resin films that are vertically overlapped with respect to the one direction, and are joined by pressing in the sandwiched state. And a step of plating the joined body.
[0027]
According to a thirteenth aspect of the present invention, in the twelfth aspect of the present invention, the linear motion artificial muscle actuator may be cut with a predetermined width in a direction orthogonal to the one direction.
[0028]
DETAILED DESCRIPTION OF THE INVENTION
Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
[0029]
First, the principle will be described. FIG. 1 is a schematic diagram illustrating the principle of a linear motion artificial muscle actuator according to an embodiment of the present invention. In FIGS. 1A and 1B, reference numeral 1 denotes a linear motion artificial muscle actuator.
[0030]
The linear motion artificial muscle actuator 1 includes, for example, four elements 2a, 2b, 2c, and 2d made of an IPMC film, a pair of elements 2a and 2b that are spaced apart from each other by a certain distance in the longitudinal direction, and a lower (second stage) ) And the other pair of elements 2c and 2d, and the pair of elements 2c and 2d arranged in two stages and the other pair of elements 2a and 2b in the longitudinal direction. And insulating members 4a and 4b as insulating fixing means . In addition, the flexible material 3a, 3b mentioned above is not an essential structure. That is, since the first and second stage elements are not short-circuited in the state of an electric field, they may be connected so as to be in direct contact or may be sandwiched by clip means.
[0031]
The IPMC film has a structure in which a noble metal such as gold or platinum is bonded to both sides of a fluorine ion exchange resin film by an electroless plating method. An IPMC film obtained by plating Naflon (registered trademark) 117 (DuPont) about 10 [mg / cm ² ] of gold is suitable, but the present invention is not limited to this if it has a similar function. Absent. The flexible members 3a and 3b are made of the same material or the same material as the elements 2a, 2b, 2c and 2d, for example, and are preferably provided thinner than the elements 2a, 2b, 2c and 2d.
[0032]
In the state of FIG. 1A, an electric field is applied to the pair of elements 2a and 2b and the other pair of elements 2c and 2d so that the outer side is a positive (+) pole and the inner side is a negative (-) pole. Then, as shown in FIG. 4B, the elements 2a, 2b, 2c, 2d are bent so as to warp outward. By this bending, the linear motion artificial muscle actuator 1 is reduced by, for example, a distance S in the longitudinal direction of the linear motion artificial muscle actuator 1 compared to the state before applying the electric field (FIG. 1A) (FIG. 1B). At this time, the flexible members 3a and 3a constituting the joining portion serve to flexibly connect the elements 2a and 2b and the elements 2c and 2d, and the elements 2a, 2b, 2c and 2d are associated with the properties of the IPMC film. It becomes possible to contract.
[0033]
Here, the characteristics of the linear motion artificial muscle actuator 1 will be described. FIG. 2 is a schematic configuration diagram showing an experimental example for explaining the characteristics of the linear motion artificial muscle actuator according to the present embodiment, and 100 shows an experimental apparatus.
[0034]
The experimental apparatus 100 includes, for example, a water tank 101, a support unit 102, a moving table 103, a load unit 104, a laser displacement measuring instrument 106, a computer 107, and the like.
[0035]
The water tank 101 stores water up to a predetermined water level. The support portion 102 is fixed to the water tank 101 and supports one end of the linear motion artificial muscle actuator 1 in the longitudinal direction. The moving table 103 supports the other end in the longitudinal direction of the linear motion artificial muscle actuator 1 and floats on the water tank 101. The load unit 104 connects one end of a wire rod to the moving base 103 and applies a constant load to the other end. The laser displacement measuring instrument 106 measures the displacement of the linear motion artificial muscle actuator 1 in the longitudinal direction with respect to the index 105 placed on the moving table 103. The computer 107 applies an electric field to the linear motion artificial muscle actuator 1 to cause bending motion in the longitudinal direction, obtains displacement position information from the laser displacement measuring instrument 106, and analyzes the characteristics of the linear motion artificial muscle actuator 1. .
[0036]
Here, an experimental example relating to a response when a step voltage or a step-like load is applied will be described. FIG. 3 is a graph showing an example of an experimental result of a step response to an input voltage in the present embodiment, and FIGS. 4 and 5 are graphs showing an example of an experimental result of a step response to a load in the present embodiment, respectively. .
[0037]
First, the response change with respect to a voltage value is demonstrated using FIG. In a no-load state, the voltage value is changed in the order of 1.5, 2.0, and 2.5 [V], step input is applied, and the displacement and current value are measured. It can be confirmed that when the input voltage is increased, the peak value of the displacement is also increased.
[0038]
The elements 2a, 2b, 2c, 2d (IPMC film) bend at a high speed toward the positive (+) pole when a voltage is applied. Further, it can be confirmed that a large current flows at the moment when a voltage is applied, and then decays exponentially. It can be confirmed that the peak value of the current increases as the input voltage is increased.
[0039]
Next, the response change to the load will be described with reference to FIGS. 4 and 5. FIG. In FIG. 4, a step input of 2.5 [V] is applied from a state where a load is applied. It can be confirmed that the displacement decreases as the load increases. The current value hardly changes even when a load is applied.
[0040]
In FIG. 5, a load is applied at time 1 [s] while an input voltage of 1.5 [V] is applied. As the load increases, it can be confirmed that the displacement increases almost proportionally.
[0041]
Thus, the linear motion artificial muscle actuator 1 can adjust the displacement according to an appropriate input voltage.
[0042]
Next, an application example based on the principle of the linear motion artificial muscle actuator 1 shown in FIG. 1 will be described. FIG. 6 is a schematic configuration diagram illustrating an application example of the linear motion artificial muscle actuator according to the present embodiment. In FIG. 6, reference numeral 200 denotes the linear motion artificial muscle actuator according to the application example.
[0043]
The linear motion artificial muscle actuator 200 has, for example, a structure in which four linear motion artificial muscle actuators are connected in the longitudinal direction, four rows thereof are provided, and both ends are fixed to support members 201 and 202, respectively. In this embodiment, as an example, four linear motion artificial muscle actuators are arranged per row, and four rows are provided. However, the present invention is not limited to this, and its use, that is, a linear motion artificial muscle actuator. It is assumed that the number can be arbitrarily set according to the place where the device is provided and the required force.
[0044]
Further, in the arrangement of the linear motion artificial muscle actuator 1, as shown in FIG. 6, if the arrangement is shifted by, for example, about half in relation to adjacent rows, the flexible material accompanying the expansion and contraction of each linear motion artificial muscle actuator The swelling of the portion in the w2 direction can be absorbed in the region of the insulating member portion. As a result, there is no interference between the linear motion artificial muscle actuators in the w2 direction, and the overall space efficiency can be improved. Note that a soft material may not be applied to the soft material portion. That is, as already explained in the description of FIG. 1, since the first and second stage elements are not short-circuited in the state of an electric field, they should be joined so as to be in direct contact or sandwiched by clip means. Also good.
[0045]
Thus, by using a combination structure in which the linear motion artificial muscle actuators 1 are connected in series and in parallel, the expansion / contraction rate in the W1 direction can be changed, or the force during expansion / contraction in the W1 direction can be changed. .
[0046]
Next, an application example to a walking robot will be described. FIG. 7 is an external perspective view showing an application example according to the present embodiment, and FIG. 8 is a diagram for explaining a hip joint of the application example according to the present embodiment.
[0047]
FIG. 7 shows the walking robot 300. This walking robot 300 is intended for a small compass-type biped walking robot. The walking robot 300 is connected to the inner side and the outer side, and moves in synchronization. Here, only the motion in the two-dimensional plane (sagittal plane) is considered. In the simulation, it is assumed that the leg and the floor are point contacts, and the ground contact with the floor is a completely inelastic collision. The walking robot 300 is a model that realizes passive walking, and can walk on a gentle slope without power.
[0048]
In the hip joints 301 and 302 of the walking robot 300, the linear motion artificial muscle actuator 1 described above is configured with a serial connection number m (m is a natural number) and a parallel number n (n is a natural number) in the longitudinal direction. A site is provided.
[0049]
Consider that the walking robot 300 is driven by its hip joints 301 and 302 and walks on a slope or flat ground. The driving of the hip joint portions 301 and 302 of the walking robot 300 is obtained by converting the contraction force into the hip joint torque Vh like a pulley with a radius r.
[0050]
In a general walking robot, a structure such as a clutch is incorporated in a joint part, so that the structure becomes large. This is because the walking motion needs to be controlled by the clutch. On the other hand, according to the linear motion artificial muscle actuator according to the present embodiment, clutch control is not required due to its stretchable characteristics. That is, when a person walks, the joint part naturally stretches with one leg strung on the ground and the other leg protruding forward like a pendulum. Is obtained from the linear motion artificial muscle actuator.
[0051]
As described above, according to the present embodiment, by combining the IPMC film constituting the polymer actuator, the bending motion is converted into the linear motion to enhance the ability as the actuator, and the force generated as the actuator is increased. It is possible to increase.
[0052]
In addition, in the application to walking robots, efficient movement is realized by combining linear motion with energization and opening with de-energization, and at that time, the flexibility of polymer actuators can be reduced without placing a mechanical structure. Depending on the nature, it is possible to realize the operation at the time of opening.
[0053]
Next, a method for manufacturing the linear motion artificial muscle actuator of the present embodiment will be described. FIG. 9 is a view for explaining a method for manufacturing a linear motion artificial muscle actuator according to the present embodiment.
[0054]
First, IPMC films 401, 402, 403, and 404 having a rectangular shape and a first thickness are arranged at a constant interval in one direction (FIG. 9A), and the four arranged IPCM films are arranged. 401, 402, 403, and 404 are arranged in two stages in one direction like the combination of the IPMC films 401 and 408 and the combination of the IPCM films 402 and 409 (FIG. 9B).
[0055]
Then, the three IPMC films 405, 406, and 407 having a rectangular shape and a second thickness smaller than the first thickness are sandwiched between the overlapping edge portions of the IPCM films (FIGS. 9A and 9B). B)), this laminated intermediate member is joined by press working. Further, after the joined body is plated, it is cut with a predetermined width in a direction X orthogonal to one direction (FIG. 9C).
[0056]
Two joined bodies thus obtained are prepared and overlapped in two stages. Then, in a pair of joined bodies in which the insulating members having a rectangular shape and the third thickness are overlapped in two stages, for example, an intermediate position between the IPMC films 405 and 406 and an intermediate position between the IPMC films 406 and 407 are orthogonal to the longitudinal direction. It may be attached as follows.
[0057]
By following such a manufacturing process, the bonding work between the IPMC films of the same material is simplified, and the manufacture of the linear motion artificial muscle actuator having a partially thin connection body is facilitated. In addition, driving (bending motion) can be realized only by wiring from one side of the linear motion artificial muscle actuators arranged in parallel and forming each row.
[0058]
【The invention's effect】
As described above, according to the present invention, it is possible to increase the ability as an actuator by converting the bending motion into the linear motion by the combination of the membranes constituting the polymer actuator, and also increase the force generated as the actuator. It is possible to provide a linear motion artificial muscle actuator.
[0059]
In addition, in the application to robots, walking is realized by a combination of linear motion with energization and opening with non-energization, and at that time it is opened due to the flexibility of the polymer actuator without placing a mechanical structure. It is possible to provide a linear motion artificial muscle actuator capable of realizing the above operation.
[0060]
Furthermore, there is provided a method for manufacturing a linear motion artificial muscle actuator capable of easily manufacturing a linear motion artificial muscle actuator that converts a bending motion into a linear motion to increase the ability as an actuator and increase the force generated as the actuator. There is an effect that it can be provided.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram illustrating the principle of a linear motion artificial muscle actuator according to an embodiment of the present invention.
FIG. 2 is a schematic configuration diagram showing an experimental example for explaining the characteristics of the linear motion artificial muscle actuator according to the present embodiment.
FIG. 3 is a graph showing an example of an experimental result of a step response to an input voltage in the present embodiment.
FIG. 4 is a graph showing an example of an experimental result of a step response to a load in the present embodiment.
FIG. 5 is a graph showing an example of an experimental result of a step response to a load in the present embodiment.
FIG. 6 is a schematic configuration diagram showing an application example of a linear motion artificial muscle actuator according to the present embodiment.
FIG. 7 is an external perspective view showing an application example according to the present embodiment.
FIG. 8 is a diagram illustrating a hip joint of an application example according to the present embodiment.
FIG. 9 is a diagram illustrating a method for manufacturing a linear motion artificial muscle actuator according to the present embodiment.
FIG. 10 is a diagram illustrating a conventional example.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Linear motion artificial muscle actuator 2a, 2b, 2c, 2d Element 3a, 3b Flexible material 4a, 4b Insulating member 100 Experimental apparatus 101 Water tank 102 Support part 103 Moving stand 104 Load part 105 Index 106 Laser displacement measuring instrument 107 Computer 200 Direct movement Artificial muscle actuator 201, 202 Support member 300 Walking robot 301, 302 Lumbar joint parts 401, 402, 403, 404, 405 IPMC film 406, 407, 408, 409 IPMC film

Claims (13)

A linear motion artificial muscle actuator,
A pair of thin resin films having ionic conductivity arranged in series in the longitudinal direction, and a pair of polymer actuators formed by flexibly connecting the thin resin films ;
A pair of insulation fixing means for arranging the pair of polymer actuators in parallel with each other in the longitudinal direction and fixing both ends of the pair of polymer actuators in an insulated state;
With
When the pair of polymer actuators arranged in parallel is energized, the thin resin films are bent so as to warp outward, and are bent at the connection portion between the thin resin films, thereby A linear motion artificial muscle actuator characterized in that it operates so as to reduce the interval between the insulating fixing means . The connecting portion of the pair of polymer actuators has a structure in which the connecting portions are connected by a flexible material made of a thin resin film for connection having ionic conductivity which is thinner than the pair of thin resin films. Item 4. The linear motion artificial muscle actuator according to Item 1. A linear motion artificial muscle actuator,
M having ionic conductivity (m is a natural number of 2 or more) is arranged in series with pieces of thin-shaped resin film in the longitudinal direction, the connecting thin resinous film having ionic conductivity for each between each pair of thin-shaped resin film N (n is a natural number of 2 or more) polymer actuators connected by a flexible material comprising:
The n polymer actuators are arranged in parallel to the longitudinal direction, and the central portions of the thin resin films facing each other are fixed in an insulated state for each of the two polymer actuators adjacent to the longitudinal direction. Insulation fixing means;
With
When the respective polymer actuators are energized, the respective thin resin films of the respective polymer actuators are bent so as to bend outward, and the flexible material is bent, whereby the respective insulations arranged in the longitudinal direction are A linear motion artificial muscle actuator characterized by operating to narrow the interval of the fixing means . For every two polymer actuators adjacent previous reporting, with respect to the longitudinal direction of the polymer actuator column in which a center portion thereof is fixed by the insulating fixing means of the thin-shaped resin films each other facing, polymer actuator adjacent orthogonally about the combination of columns to each other, according to claim 3, characterized in that it is arranged by shifting the positional relationship of the connecting thin shaped resin film in one and the other of the polymer actuator columns with respect to the longitudinal direction Linear motion artificial muscle actuator. A linear motion artificial muscle actuator,
A pair of thin resin films having ionic conductivity arranged in series in the longitudinal direction, and a pair of polymer actuators formed by flexibly connecting the thin resin films ;
A pair of insulation fixing means for arranging the pair of polymer actuators in parallel with each other in the longitudinal direction and fixing both ends of the pair of polymer actuators in an insulated state;
When energizing the pair of polymer actuators arranged in parallel, energization means for energizing each thin resin film so as to bend and bend outward ,
A linear motion artificial muscle actuator comprising: 6. The linear motion artificial muscle actuator according to claim 5, wherein the energizing means makes the polarities of the outer surface and the inner surface of the pair of polymer actuators arranged in parallel differ. The linear motion artificial muscle actuator according to claim 6, wherein the energization means has a pair of polymer actuators arranged in parallel with a positive pole on an outer surface and a negative pole on an inner surface. A linear motion artificial muscle actuator,
M having ionic conductivity (m is a natural number of 2 or more) is arranged in series with pieces of thin-shaped resin film in the longitudinal direction, the connecting thin resinous film having ionic conductivity for each between each pair of thin-shaped resin film N (n is a natural number of 2 or more) polymer actuators connected by a flexible material comprising:
The n polymer actuators are arranged in parallel to the longitudinal direction, and the central portions of the thin resin films facing each other are fixed in an insulated state for each of the two polymer actuators adjacent to the longitudinal direction. Insulation fixing means;
Energizing means for energizing each thin resin film so as to bend and bend outward when energized to each of the polymer actuators arranged in parallel ;
A linear motion artificial muscle actuator comprising: 9. The linear motion artificial muscle actuator according to claim 8, wherein the energizing means makes the polarities of the outer surface and the inner surface of the polymer actuators arranged in parallel differ from each other. 10. The linear motion artificial muscle actuator according to claim 9, wherein the energizing unit has an outer surface of each of the polymer actuators arranged in parallel as a positive pole and an inner surface as a negative pole. For every two polymer actuators adjacent previous reporting, with respect to the longitudinal direction of the polymer actuator column in which a center portion thereof is fixed by the insulating fixing means of the thin-shaped resin films each other facing, polymer actuator adjacent orthogonally about allowed Awa set between columns, according to claim 8-10, characterized in that is arranged by shifting the positional relationship of the connecting thin shaped resin film in one and the other of the polymer actuator columns with respect to the longitudinal direction The linear motion artificial muscle actuator according to any one of the above. A method for manufacturing a linear motion artificial muscle actuator,
A plurality of first thin resin films that are rectangular and have a first thickness are arranged at a certain interval in one direction, and the arranged first thin resin films are arranged in two directions in the one direction. A plurality of second thin resin films, which are arranged in steps, are rectangular and have a second thickness that is thinner than the first thickness, each of the two stages of the first overlapping each other vertically with respect to the one direction. A method for producing a linear motion artificial muscle actuator, comprising the steps of: clamping at an edge portion between thin resin films ; joining by pressing in the sandwiched state; and plating the joined body.   The method for manufacturing a linear motion artificial muscle actuator according to claim 12, wherein the linear motion artificial muscle actuator is cut at a predetermined width in a direction orthogonal to the one direction.

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