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

在订购时获得基本知识以开发高性能ICPF执行器，它是一个由platinum组成的高聚合物凝胶执行器，是ICPF执行器产生旅行波的机制，其理论原理已在研究中进行了调查。通过了3年的研究，随后的结果也得到了满足。一种用掩蔽物在PFS膜上开发的铂片沉积方法。这一结果使设计ICPF操纵器的Arbitrary Shape。对一个行星型ICPF发射器在实验中的运动的分析已经完成。一个灰色/白盒子模型已经根据分析提出了。由于使用了模型，有限的元素方法可以用来预测运动。一个结构形状的执行器由两个ICPF执行器组成，一个网格类型执行器由许多ICPF执行器组成，并已开发。这已经被证实在实验中，这两个演员都可以产生旅行的波浪。对于结构形状的执行器，一些参数，如宽度和长度，已经进行了测试，实验和最佳参数已经确定。根据先前结果的基础，一个发动机和一个分布式驱动系统是由使用arch-Shape执行器制造的。他们的有效性在实验中得到了肯定。在补充中，它被证实了，网格型执行器可以产生偏振波，通过小的置换，通过解释。

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.