权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

A Study on Mechanism of Traveling Wave Generation by Using ICPF Actuator

ICPF驱动器产生行波机理的研究

基本信息

批准号：
07455113
负责人：
TAKAMORI Toshi
金额：
$ 2.62万
依托单位：
Kobe University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1997
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07455113/
关键词：
high polymer gel actuator ICPF actuator EFD actuator robot mechatoronics traveling wave friction drive 進行波摩擦駆動アクチュエータ高分子進行波駆動超音波モータ水中モータ

项目摘要

In order to obtain basic knowledge to develop high performance ICPF actuators, which is a high polymer gel actuator composed of PFS membrane plated with platinum, the mechanism of generation of traveling wave of the ICPF actuator and its theoretical principal have been investigated in the study. Throughout the 3-year research, the following results have been obtained.・A platinum plating method has been developed which produced arbitrary plating perttan on PFS membrane by using masking. This result enables to design ICPF acutuator of arbitrary shape.・Analysis of the motion of a plane-type ICPF actuator in experiments was carried out. A gray/white box model has been proposed based on the analysis. By using the model, finite element method can be used to predict of the motion.・An arch-shape actuator which is composed of two ICPF actuators and a mesh-type actuator which is composed of many ICPF actuators have been developed. It has been confirmed experimentally that both actuators can generate traveling wave.・For the arch-shape actuator, some parameters, such as the width and the length, have been examined experimentally and optimal parameters have been determined.・On the basis of the previous results, a motor and a distributed driving system have been fabricated by using the arch-shape actuators. Their effectiveness have been confirmed experimentally. In addition, it has been confirmed that the mesh-type actuator can generate arbitraty traveling waves, though with small displacement, through the expreiments.

为了获得研制高性能ICPF驱动器的基础知识，本文对ICPF驱动器的行波产生机理及其理论原理进行了研究。ICPF驱动器是一种由镀铂聚合物薄膜构成的高分子凝胶驱动器。通过3年的研究，取得了以下成果。·本文提出了一种利用掩蔽法在聚合硫酸铁膜上制备任意镀层铂的方法。这一结果为设计任意形状的ICPF激励器提供了可能。对平面型ICPF驱动器的运动进行了实验分析。在此基础上提出了一种灰色/白色箱模型。通过使用该模型，可以使用有限元方法来预测运动。·开发了由两个ICPF致动器组成的拱形致动器和由多个ICPF致动器组成的网状致动器。实验证实，两种致动器都能产生行波。·对弓形驱动器的宽度和长度等参数进行了实验研究，确定了最佳参数。在此基础上，研制了一台电机和一个分布式驱动系统。它们的有效性已被实验证实。另外，通过实验证实了这种网格式驱动器可以产生任意的行波，虽然位移很小。