WO2005004320A1

WO2005004320A1 - Actuator

Info

Publication number: WO2005004320A1
Application number: PCT/JP2004/009528
Authority: WO
Inventors: Minoru Nakayama
Original assignee: Eamex Corporation
Priority date: 2003-07-03
Filing date: 2004-07-05
Publication date: 2005-01-13

Abstract

An actuator is characterized in that it has a film-like conductive polymer and a pressing portion, the conductive polymer is in a stretched state, the pressing portion is placed so as to receive a force from a film surface of the conductive polymer, the force being received in the axial direction of the pressing portion, and the pressing portion has its length direction in the direction normal to a flat surface of the conductive polymer in a flat film state. Accordingly, the actuator is light in weight, can be used in various practical applications, and has a mechanism capable of performing a greater movement.

Description

Specification

Actuator

Technical field

The present invention relates to an actuator including a conductive polymer and a method for driving the actuator.

Background art

[0002] A conductive polymer represented by polypyrrole is known to exhibit electrolytic stretching, which is a phenomenon of stretching or deforming due to electrochemical redox. The electrolytic expansion and contraction of the conductive polymer can be used to drive a linear actuator. For this reason, an actuator using a conductive polymer is light in weight, so that it is possible to reduce the weight of the entire device to be incorporated, and not only as a small driving device such as a micromachine but also as a large driving device. It is expected to be used, and in particular, is expected to be used as an artificial muscle, a robot arm, an artificial hand actuator, and the like. In particular, a linear actuator using polypyrrole exhibits a maximum expansion rate of 15.1% per redox cycle due to electrolytic expansion and contraction, and can generate a maximum force of 22 MPa (for example, , Non-Patent Document 1). Therefore, it is expected as a large-sized drive device.

[0003] Non-Patent Document 1: Susumu Hara, 4 others, "Highly Stretchable and Powerful Polypyrrol e Linear Actuators", Chemistry Letters, Japan, Published by The Chemical Society of Japan, 2003, Vol. 32, No. 7, p576-577

Disclosure of the invention

[0004] However, in order to use the actuator in many practical applications, such as using it for a joint part of a robot, it is necessary to lengthen the actuator in order to obtain a larger amount of expansion and contraction. Further, in order to obtain a large amount of expansion and contraction due to the performance of the actuator, further manufacturing method and material development are required. Therefore, in order to obtain a larger amount of expansion and contraction, a mechanism capable of converting the amount of expansion and contraction of the conductive polymer into a movement of a larger distance is required as an actuator.

[0005] An object of the present invention is to provide a mechanism capable of performing a larger operation because it is lightweight by using a conductive polymer and can be used for many practical applications. It is to provide an equipped actuator.

[0006] The invention of the present application is characterized in that the actuator includes a film-shaped conductive polymer and a pressing portion, and the conductive polymer is stretched, and the pressing portion has a high conductivity in a flat film state. It is an actuator that has a length in the direction perpendicular to the plane of the molecule. As a result of intensive studies, the present inventors have found that by using the above-described actuator, the actuator operates more than the amount of expansion and contraction of the conductive polymer. The actuator is useful for practical use as an actuator having a mechanism capable of performing a large operation. Brief Description of Drawings

FIG. 1 is a top view of a first embodiment of an actuator according to the present invention.

[FIG. 2] FIG. 2 is a sectional view taken along the line AA of the actuator of FIG.

[FIG. 3] FIG. 3 is a partially enlarged view of a BB cross-sectional view of the actuator shown in FIG.

FIG. 4 (a) is a cross-sectional view of the actuator of the second embodiment of the present invention when the film-shaped conductive polymer contracts. FIG. 4 (b) is a cross-sectional view of the actuator according to the second embodiment of the present invention when the film-like conductive polymer is elongated.

FIG. 5 is a bottom view of the actuator of FIG. 4.

FIG. 6 is a sectional view of a piston device using the actuator of FIG. 4.

FIG. 7 is a cross-sectional view of a third embodiment of the actuator of the present invention.

FIG. 8 is a schematic view of a joint device using the actuator of the present invention.

FIG. 9 is a schematic view of a joint device using a tandem-type actuator of the present invention.

Explanation of symbols

[0008] 1 Actuator Screw

Film-shaped conductive polymer housing

Pressing part

Opposite pole

Lead wire Lead wire Actuator housing Conductive polymer Press section

Fixing member Housing Through hole

Case

Working electrode Counter electrode

Spring

Actuator, 32 conductive polymer pressing part, 35 fixed frame

Housing Joint device First support member Second support member Outer cylinder 44 Actuator

50 Joint device

51 First support member

52 Second support member

53 outer cylinder

54 BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, the actuator of the present invention will be described with reference to the drawings.

FIG. 1 is a top view of the first embodiment of the actuator of the present invention. The actuator 1 includes a circular film-shaped conductive polymer in a housing, and includes a ring-shaped fixing frame 2 for fixing the conductive polymer. Further, the actuator 1 has a lid 3. A frame 4 for holding the lid is fixed to the housing by screws 5 with the lid interposed therebetween.

FIG. 2 is a sectional view taken along line AA of the actuator shown in FIG. A circular film-shaped conductive polymer 6 is provided, and attached to the housing 7 by the fixed frame 2. The actuator 1 has a pressing portion 8. The pressing portion has a length in a direction X perpendicular to a plane of the conductive polymer when the conductive polymer is in a flat film state.

The actuator of FIG. 2 further includes a lid 3. The lid has a corrugated cross section and is provided with peaks and valleys that are concentric with the circular shape of the conductive polymer film, so that the lid has elasticity so that it can expand and contract freely. The lid 3 has a thick portion at the center portion, and the pressing portion 8 is fitted in the thick concave portion. As a result, a space is formed in which the conductive polymer and the elastic lid are sealed, and the pressing portion is provided inside the space.

In the actuator shown in FIG. 2, the conductive frame 6 is contracted by giving electric conductivity to the fixed frame 2 and applying a voltage to the circular conductive polymer film 6 using the fixed frame as a working electrode. In this case, the cross section of the conductive polymer becomes a straight line in the horizontal direction, and applies a force in the X direction to the cylindrical pressing portion 8. Due to the contraction of the conductive polymer, the pressing portion is raised Works in the opposite direction. When the applied voltage is released or the like, the pressing portion presses the conductive polymer film 6 downward by elasticity of the lid, and returns to the state shown in FIG. 2, and the pressing portion moves downward. Works. In this way, the pressing portion operates by applying a voltage to the conductive polymer.

FIG. 3 is a partially enlarged view of a sectional view taken along line BB of the actuator shown in FIG. In the actuator shown in FIG. 1, the fixed frame 2 has electrical conductivity and also functions as an electrode. In FIG. 3, the fixed frame 2 is connected to the lead wire 10 and is connected to an external power supply to function as a working electrode. The housing 7 has a counter electrode 9 on the inner surface. The counter electrode 9 is connected to a lead wire 11 and is connected to the external power supply. The actuator operates when a voltage is applied to the conductive polymer film 6 from a power supply by arranging an electrolyte such as filling the inside of the housing 7 with an electrolyte so that the conductive polymer film 6 expands and contracts electrolytically. Is generated.

[0015] In the actuator of the present invention, when a voltage is applied to the film-shaped conductive polymer and the pressing portion linearly moves, the pressing portion has a distance longer than the amount of expansion and contraction of the conductive polymer. You can do up and down movement. Therefore, the actuator of the present invention can be suitably used for many practical applications.

[0016] The actuator of the present invention can also be a tandem-type actuator that is driven up and down by having a structure in which the bottom surfaces of the housings of the two actuators are connected to each other.

[0017] The conductive polymer is not particularly limited, but is a conductive polymer produced by an electrolytic polymerization method, wherein the electrolytic polymerization method includes an ether bond, an ester bond, and a carbonate bond. , A hydroxyl group, a nitro group, a sulfone group or an nitrile group, an organic solution containing at least one bond or a functional group and / or a halogenated hydrocarbon as a solvent. Conductive polymers are preferred which contain methanesulfonic acid ions and / or anions containing a plurality of fluorine atoms with respect to the central atom.

[0018] The electrolytic solution used in the electrolytic polymerization method contains at least one bond or functional group of an ether bond, an ester bond, a carbonate bond, a hydroxyl group, a nitro group, a sulfone group, and a nitrile group. Organic compounds and / or halogenated hydrocarbons Included as solvent. Two or more of these solvents can be used in combination.

[0019] Examples of the organic compound include 1,2-dimethoxyethane, 1,2-diethoxytan, tetrahydrofuran, 2-methyltetrahydrofuran, 1,4-dioxane (the above-mentioned organic compounds containing an ether bond), y- Butamouth ratatone, ethyl acetate, n-butyl acetate, _t-butyl acetate, 1,2_diacetoxetane, 3-methyl-2_oxazolidinone, methyl benzoate, ethyl benzoate, butyl benzoate, getyl phthalate ( Above, organic compounds containing ester bonds), propylene carbonate, ethylene carbonate, dimethinolecarbonate, methyl carbonate, methylethyl carbonate (the above, organic compounds containing carbonate bonds), ethylene glycol, butanol, 1_ Xanol, cyclohexanol, 1_ octanol, 1-decanol, 1_ Decanol, 1-octadecanol (above, organic compound containing hydroxyl group), nitromethane, nitrobenzene (above, organic compound containing nitro group), sulfolane, dimethyl sulfone (above, organic compound containing sulfone group), and Examples include setonitrile, butyronitrile, and benzonitrile (the above is an organic compound containing a nitrile group). The organic compound containing a hydroxyl group is not particularly limited, but is preferably a polyhydric alcohol or a monohydric alcohol having 4 or more carbon atoms because of its good power expansion ratio. The organic compound may have, in addition to the above examples, two or more bonds or functional groups among ether bonds, ester bonds, carbonate bonds, hydroxyl groups, nitro groups, sulfone groups, and nitrile groups. May be an organic compound containing in any combination. In addition, the organic compound used as a solvent for the electrolytic solution is a benzoic acid, which is preferably an aromatic ester because the obtained conductive polymer has a large electrochemical expansion (electrolytic expansion). More preferably, it is ethyl.

When the organic compound is used as a solvent for an electrolytic solution by mixing two or more of the organic compounds, an organic compound having an ether bond, an organic compound having an ester bond, an organic compound having a carbonate bond, Among the organic compounds containing a hydroxy group, the organic compounds containing a nitro group, the organic compounds containing a sulfone group, and the organic compounds containing a nitrile group, a combination of an organic compound having excellent extension and an organic compound having excellent contraction is provided. At the same time, it is also possible to improve the expansion / contraction rate per one oxidation-reduction cycle of the conductive polymer obtained by electrolytic polymerization. [0021] The halogenated hydrocarbon contained as a solvent in the electrolytic solution of the above-mentioned electrolytic polymerization method is one in which at least one hydrogen atom in the hydrocarbon is replaced by a halogen atom, and is stable as a liquid under the conditions of the electrolytic polymerization. It is not particularly limited as long as it can exist. Examples of the halogenated hydrocarbon include dichloromethane and dichloroethane. Only one kind of the halogenated hydrocarbon can be used as a solvent in the electrolytic solution. Two or more kinds of halogenated hydrocarbons can be used in combination. The halogenated hydrocarbon may be used as a mixture with the organic compound, and a mixed solvent with the organic solvent may be used as a solvent in the electrolyte.

The electrolytic solution used in the electrolytic polymerization method contains an organic compound to be electrolytically polymerized (for example, pyrrole), trifluoromethanesulfonic acid ion, and anion containing a plurality of fluorine atoms with respect to Z or a central atom. By conducting electrolytic polymerization using this electrolytic solution, it is possible to obtain a conductive polymer having an excellent expansion / contraction ratio per oxidation-reduction cycle and / or a displacement ratio per specific time in electrolytic expansion / contraction. By the above-mentioned electrolytic polymerization, trifluoromethanesulfonic acid ions and / or anions containing a plurality of fluorine atoms with respect to the central atom are incorporated into the conductive polymer.

The anion containing a plurality of fluorine atoms with respect to the trifluoromethanesulfonate ion and / or the central atom is not particularly limited in the content in the electrolytic solution. 1-30% by weight is preferred. 1-15% by weight is more preferred.

[0024] Trifluoromethanesulfonic acid ion is a compound represented by the chemical formula CFSO-.

3 3

An anion containing a plurality of fluorine atoms with respect to the central atom has a structure in which a plurality of fluorine atoms are bonded to a central atom such as boron, phosphorus, antimony, and arsenic. The anion containing a plurality of fluorine atoms with respect to the central atom is not particularly limited.

, Tetrafluoroborate ion (BF-), hexafluorophosphate ion (PF-), hexaf

4 6

Examples of fluoroantimonate ion (SbF-) and hexafluorofluoric acid ion (AsF-)

6 6 S ability to do. Above all, CF SO _, BF _ and PF _ are safe for human body etc.

3 3 4 6

Considering this, CF SO— and BF—, which are preferable, are more preferable. With respect to the central atom

3 3 4

Anion containing multiple nitrogen atoms can be used with multiple types of anions Alternatively, trifluoromethanesulfonic acid ion and anion containing a plurality of fluorine atoms with respect to a plurality of central atoms may be used simultaneously.

[0025] The electrolyte may contain a dopant other than the above. The conductive polymer used in the actuator of the present invention is a conductive polymer containing polypyrrole obtained by a method for producing polypyrrole using an electrolytic polymerization method, and the production method is used in an electrolytic polymerization method. It is preferable that the electrolytic solution includes pyrrole and / or a pyrrole derivative as a monomer component, the electrolytic solution includes an aromatic ester as a solvent, and the electrolytic solution includes a polypyrrole containing perchlorate ion. This polypyrrole film can expand and contract with a maximum expansion ratio of 10% or more per oxidation-reduction as the maximum expansion ratio due to electrolytic expansion and contraction, and has a tensile strength of 60 MPa or more.

[0026] Further, in order to make the obtained conductive polymer have an expansion / contraction rate of 16% or more per oxidation-reduction cycle, the above-mentioned trifluoromethanesulfonic acid ion and / or central atom is contained in the electrolytic solution. In place of an anion containing multiple fluorine atoms, the chemical formula (1)

(C F SO) (C F SO) N— (1)

n (2n + l) 2 m (2m + l) 2

(Where n and m are arbitrary integers)

It is preferable to use an electrolytic solution containing a perfluoroalkylsulfonylimide ion represented by the following formula as an anion.

[0027] The electrolytic solution used in the electrolytic polymerization method contains a conductive solution in a solution of the organic compound solvent and the trifluoromethanesulfonic acid ion and / or anion containing a plurality of fluorine atoms with respect to the central atom. It may include a polymer monomer. The electrolyte may further contain other known additives such as polyethylene glycol and polyacrylamide.

[0028] In the electrolytic polymerization method, a known electrolytic polymerization method can be used as the electrolytic polymerization of the conductive polymer monomer, and any of the constant potential method, the constant current method, and the electric sweep method can be used. Can be used. For example, the electrolytic polymerization is performed under the conditions of a current density of 0.01 to 20 mAZcm ² , a reaction temperature of 70 to 80 ° C, preferably a current density of 0.1 to ² mA / cm ² and a reaction temperature of 1 to 30 ° C. It is more preferable that the reaction temperature is preferably 20 to 30 ° C. [0029] The monomer of the conductive polymer contained in the electrolytic solution used in the electrolytic polymerization method is not particularly limited as long as it is a compound that is polymerized by oxidation by electrolytic polymerization and exhibits conductivity. For example, there may be mentioned 5-membered heterocyclic compounds such as pyrrole, thiophene and isothianaphthene, and derivatives thereof such as alkyl groups and oxyalkyl groups. Among them, a five-membered heterocyclic compound such as pyrrole and thiophene and a derivative thereof are preferred. In particular, a conductive polymer containing a pyrrole and / or a pyrrole derivative is preferred because the production is easy and the conductive polymer is preferable. It is preferable because it is stable. Also, two or more of the above monomers can be used in combination.

[0030] The conductive polymer in the present invention is not particularly limited as long as it has elasticity. Polypyrrole, polythiophene, polyaniline, polyphenylene film, and the like can be used. As the conductive polymer, a conductive polymer containing pyrrole and / or a pyrrole derivative in a molecular chain is easy to manufacture, and is not only stable as a conductive polymer but also has excellent electrolytic stretching performance. Is preferred. The conductive polymer is excellent in electrolytic expansion and contraction because it contains, as a dopant, trifluoromethanesulfonate ion and / or anion containing a plurality of fluorine atoms with respect to the central atom contained in the electrolytic solution. It indicates the rate of expansion and contraction per oxidation-reduction cycle, and is also considered to indicate the rate of displacement per specific time. The conductive polymer contains a conductive polymer having a maximum expansion and contraction ratio of 8% or more due to electrolytic expansion and contraction as a material, and the expansion and contraction ratio of the drive unit when the driving mechanism is driven is set to the maximum expansion and contraction ratio of 50% By using the driving method of the drive mechanism that expands and contracts the driving unit so as to be less than or equal to%, the amount of expansion and contraction can be increased by lengthening the driving unit, and the expansion and contraction speed can be increased.

[0031] The film-shaped conductive polymer in the actuator of the present invention may be circular, square, or rectangular as long as it is in the form of a film. The shape of the film-shaped conductive polymer, which is a film-shaped body, is preferably a circle because a force due to expansion and contraction can be evenly applied to the pressing portion.

[0032] In addition, the pressing portion is not particularly limited. However, when the pressing portion is in contact with an electrolyte that is preferably formed of a noble metal such as platinum, carbon, or a hard plastic in order to prevent dispersion of the force, It is preferable to have corrosion resistance. The pressing portion may be provided with a spacer between the conductive portion and the film-shaped conductive polymer, which may be in direct contact with the conductive polymer. The shape of the pressing portion is not particularly limited, but is preferably a rod, a cylinder, or a column in order to have a length of expansion and contraction and to reduce the size of the actuator itself.

[0033] The material of the fixed frame is not particularly limited. Since it is not necessary to separately provide a working electrode for applying a voltage to the film-shaped conductive polymer as the fixed frame, the fixed frame has a conductive property to apply a voltage to the conductive polymer, and It is preferable to fix the conductive polymer.

FIGS. 4A and 4B are cross-sectional views of a second embodiment of the actuator of the present invention. FIG. 4A is a cross-sectional view when the film-shaped conductive polymer contracts. FIG. 4 (b) is a cross-sectional view when the film-shaped conductive polymer is elongated. The actuator 12 includes a film-shaped conductive polymer 14 inside the housing 13 and a pressing portion 15 on the upper surface of the housing 13. The actuator 12 fixes the film-shaped conductive polymer by holding the conductive polymer 14 between the fixing member 16 and the housing 13.

FIG. 5 is a bottom view of the actuator of FIG. The fixing member is installed in the housing by engaging the claw portion 17 of the fixing member 16 with the notch of the housing 17. The fixing member 16 has a through hole 18 communicating with the conductive polymer 14.

FIG. 6 is a sectional view of a piston device using the actuator of FIGS. 4 (a) and 4 (b). Actuators 121-126 are inserted into holes in the fixing member of the other actuator and are stacked in the interior of case 19. The case 19 includes a working electrode 20, which is in contact with the conductive polymer of the actuator 126. By providing a term on the side surface of the actuator, each conductive polymer of the actuator element laminate and the working electrode are connected by a lead wire so as to be in series. A counter electrode 21 is provided inside the case 19. By filling the inside of the case 19 with the electrolytic solution and applying a voltage to the working electrode and the counter electrode, the conductive polymer of each actuator element can be electrolytically expanded and contracted. In this state, the conductive polymer of each actuator in FIG. 6 is changed from the expanded state to the expanded state, so that the actuator operates to the left in the figure and the rod attached to the upper surface of the actuator 121 22 moves to the left. In addition, the conductive polymer is stretched as shown in Fig. 6 by releasing the applied voltage of the conductive polymer of each actuator element, etc. Each actuator is returned to the right side, and the rod moves rightward. By the operation of this rod, the piston device 19 functions as a piston.

[0037] Further, the actuator of the present invention may include a plurality of film-shaped conductive polymers. FIG. 7 is a sectional view of a third embodiment of the actuator of the present invention. The actuator 30 includes film-shaped conductive polymers 31 and 32, and includes a pressing portion 33 having a length in a direction perpendicular to a plane of the conductive polymer in a flat film state. Each conductive polymer film is fixed to the housing 36 by fixing frames 34 and 35, respectively. For example, a hole is provided in the side surface of the housing, a lead wire is passed through, the lead wire is connected to fixed frames 34 and 35 having conductivity, and after connecting each lead wire to a power source, the actuator 30 is placed in the electrolyte. When a voltage is applied to each conductive polymer film by immersion, each conductive polymer undergoes electrolytic expansion and contraction. FIG. 7 shows a state in which the conductive polymer film 32 is extended and the conductive polymer film 31 is contracted. The conductive polymer film 31 expands due to electrolytic expansion and contraction, and the conductive polymer film 32 contracts, and the pressing portion 33 is driven to the right in the drawing.

After one conductive polymer film serves as a working electrode and the other conductive polymer film serves as a counter electrode, one conductive polymer film serves as a counter electrode and the other conductive polymer film serves as a working electrode. By repeating the cycle described above, the pressing portion can be made to move in the left-right direction in the figure. Note that a metal layer that can expand and contract to apply a uniform voltage can be provided on the surface of the conductive polymer film.

FIG. 8 is a schematic view of a joint device using the actuator of the present invention. The joint device 40 includes a first support member 41 and a second support member 42, and a plurality of actuators according to the present invention are stacked in the outer cylinder 43. Here, in the actuator 44, by providing the pressing portion so that the pressing direction axis of the pressing portion is deviated from the center of the actuator, each actuator is driven to perform a curved operation as shown in FIG. It becomes possible. By using the actuator of the present invention, a lightweight joint device can be obtained.

FIG. 9 is a schematic diagram of a joint device using the actuator of the present invention, similarly to FIG.

The joint device 50 includes a first support member 51 and a second support member 53, and a plurality of actuators of the present invention are stacked in the outer cylinder 53. Actuator 54 drives up and down The above-described tandem-type actuator is provided with a pressing portion such that a pressing direction axis of the pressing portion is deviated from the center of the actuator. As a result, the joint device of FIG. 9 can make a large curve with a smaller number of actuators than the joint device of FIG.

[0040] Further, the actuator of the present invention can be used as an artificial spine by laminating the same as in the above-described joint device.

Further, since the actuator of the present invention is driven by applying a voltage to the conductive polymer, the actuator is a lightweight device such as a positioning device, a posture control device, a lifting device, a transport device, a moving device, an adjusting device, It can be suitably used for a driving unit of an adjusting device, a guiding device, or a joint device. Further, the actuator of the present invention can be used for a lightweight joint device and an artificial spine.

Industrial applicability

[0042] The actuator of the present invention is lightweight because it uses a conductive polymer for the drive unit, and has a mechanism capable of operating that is larger than the amount of expansion and contraction of the conductive polymer. Therefore, it can be suitably used for many practical applications. In particular, the actuator of the present invention is used for a positioning device, a posture control device, a lifting device, a transport device, a moving device, an adjusting device, an adjusting device, a guiding device, or a driving unit of a joint device, a lightweight joint device, or an artificial spine. It is suitable as an actuator.

Claims

The scope of the claims

[1] The actuator has a film-shaped conductive polymer and a pressing portion,

The conductive polymer is in a stretched state,

The pressing portion has a length in a direction perpendicular to a plane of the conductive polymer in a flat film state.

Actuator.

2. The actuator according to claim 1, wherein the pressing portion is installed so as to receive a force from a film surface of the conductive polymer in a longitudinal axis direction of the pressing portion.

3. The actuator according to claim 1, wherein the conductive polymer is provided by a fixed frame, and the fixed frame has electrical conductivity.

4. The actuator according to claim 1, further comprising: a stretchable lid that forms a closed space with the conductive polymer, and the pressing portion is provided inside the space.

5. The actuator according to claim 1, wherein the pressing portion is installed such that a pressing direction axis of the pressing portion deviates from the center of the actuator.

[6] The conductive polymer is a conductive polymer produced by an electrolytic polymerization method, wherein the electrolytic polymerization method comprises an ether bond, an ester bond, a carbonate bond, a hydroxyl group, a nitro group, a sulfone group, An electrolytic solution containing, as a solvent, an organic compound containing at least one bond or a functional group among nitrile groups and / or a halogenated hydrocarbon is used, and trifluoromethanesulfonate ion and trifluoromethanesulfonate ion are contained in the electrolytic solution. And / or a method for producing a conductive polymer containing anions containing a plurality of fluorine atoms with respect to a central atom.

An actuator according to claim 1.

[7] The actuator according to claim 1, wherein a conductive polymer having a maximum expansion and contraction rate of 8% or more is used as the conductive polymer.

[8] An actuator laminate in which the actuator according to claim 5 is laminated.

[9] The pressing portion is moved linearly by applying a voltage to the conductive polymer.

A driving method for driving the actuator according to claim 1.

10. The method for driving an actuator stack according to claim 8, wherein the actuator stack is curved by applying a voltage to the conductive polymer.

[11] An articulation device using the actuator stack according to claim 5.

[12] A positioning device, a posture control device, an elevating device, a transport device, a moving device, an adjusting device, an adjusting device, a guiding device, a joint device, or an artificial spine using the actuator according to claim 1.