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Development of Integrated Electrostatic Linear Actuator as Biomimicking Skeletal Muscle.

开发集成静电线性致动器作为仿生骨骼肌。

基本信息

批准号：
02452133
负责人：
KABEI Nobuyuki
金额：
$ 2.94万
依托单位：
Tokyo Women's Medical College
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (B)
财政年份：
1990
资助国家：
日本
起止时间：
1990 至 1992
项目状态：
已结题

项目摘要

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.

我们将仿生技术应用于人工肌肉的研制中，提出了一种新的肌肉收缩理论，称为静电直线电机模型，其基本驱动器由一个平行板电容器和一个由介质材料制成的滑块组成。当以适当的间隔对电容器进行充电或放电时，通过使用基本单元和集成驱动器的分析和实验，发现：1)定子两侧的多种电极布置方式没有差别；2)一对电极的最佳纵横比(电极长度/电极间距)为0.8.3)获得高力的最佳驱动频率范围为5~10kHZ。4)输出力与外加电压的二次幂成正比。在250V下获得了10mN的力。5)100个单元驱动器被三维集成(宽44x长44x厚8.82 mm)。在100V的驱动电压下，其总输出力为32mN，从而获得了1.87kN/m3的力密度。6)实现了集成直线驱动器的连续驱动。该执行器具有长距离连续平稳运动的特点，可以采用最先进的技术制造三维一体化执行器，具有潜在的实际应用价值。