Development of Integrated Electrostatic Linear Actuator as Biomimicking Skeletal Muscle.

我们将仿生技术应用于人工肌肉的开发中，采用了Yano博士提出的一种新的肌肉收缩理论，称为静电直线电机模型，基本驱动器由平行板电容器和由介电材料制成的滑块组成。当电容器以适当的间隔充电或放电时，利用基本单元和集成驱动器的分析和实验结果表明：1）定子两侧电极的多种布局方式没有差别; 2）定子两侧电极的布局方式没有差别; 3）定子两侧电极的布局方式没有差别;一对电极的最佳纵横比（电极长度/两个电极之间的距离）为0.8.3）获得高力的最佳驱动频率范围为5 ~ 10 kHz。4）输出力与施加电压的二次幂成正比增加。在250 V下获得10 mN的力。5）将100个单元致动器三维集成（宽度44 x长度44 x厚度8.82 mm）。在100 V的驱动电压下产生的总输出力为32 mN，力密度为1.87 kN/m^3。6）实现了一体化直线驱动器的连续驱动。该驱动器可实现长距离连续、平稳的运动，由于三维一体化驱动器可采用先进的制造工艺，因此具有潜在的实用价值。

We applied the technology of biomimicry to the development of an artificial muscle using a new theory of muscle contraction, termed the electrostatic linear motor model which proposed by Dr. Yano.The fundamental actuator consists of a parallel plate capacitor and a slider made of dielectric material. When the capacitor is charged or discharged at the appropriate intervals, an electric potential energy is converted into mechanical energy for pulling the slider into the space of the charged capacitor.The following were revealed through the analysis and experiments using fundamental units and the integrated actuator.1) There are no differences among many patterns of layout of electrodes which are placed on the both sides of a stator.2) The optimal aspect ratio (length of electrode / distance between two electrodes) of one pair of electrodes is 0.8.3) The optimal driving frequency range for botaining high force was from 5 to 10 kHZ.4) The output force increased in proportion to the second power of applied voltage. The force of 10 mN was obtained at 250 V.5) One hundred of unit actuators were three dimensionally integrated (width 44 x length 44 x thickness 8.82 mm). Its total output force was 32 mN which was generated under the driving voltage of 100 V. Thus,the force density of 1.87 kN/m^3 was obtained.6) Continuous driving of the integrated linear actuator was achieved. The actuator moved continuously and smoothly for long distance.Since the three dimensionally integrated actuator can be manufactured using state-of-the-art techniques, it has potential practical use.