Realization of High Performance Micro Helicopter using Electro-conjugate Fluid(ECF) for Extreme Environment

电共轭流体（ECF）是一种介电流体，在高电压（几千伏）作用下产生强大的射流。虽然被称为ECF射流的射流机制尚未明确，但流体被澄清为适合微驱动，这意味着用更小的电极对观察到更强大的射流。因此，本研究旨在利用电共轭流体开发新型微电机和微机械臂，并利用上述部件实现适用于原子反应堆等极端环境的微型直升机。以下是本研究的成果。通过使用功能流体（ECF），电能很容易转化为机械能。我们已经将这种有趣的流体应用于微电机。开发了三种类型的ECF微电机。第一种是SE型ECF微电机，定子上有电极对。第二个是我们称之为DP-RE型ECF麦克风。这种电机在盘式转子上有电极对。第三种是C-RE型ECF微电机，其圆柱形转子表面有电极对。DP-RE型ECF微电机性能最好，研制出内径5mm的8层DP-RE型ECF微电机。ECF射流也可以用作微压力源。利用该压力源，研制了一种ECF微机械臂。微弯曲柔性管随着内压的增大，其前缘位移与波登管相似。我们还在开发一种ECF微型灵活手指。柔性管沿轴方向有3个平行腔室，每个腔室的内压由ECF射流独立控制。到目前为止，我们已经提出了驱动原理，并使用直径为4.5mm的大型模型研究了制造工艺。最后，从理论上研究了高功率密度ECF微电机对微型直升机螺旋桨形状的影响。少

An electro-conjugate fluid(ECF) is a kind of dielectric fluids, which generates a powerful jet flow when subjected to a high voltage (several kV). Although the mechanism of the jet flow, which is called an ECF jet, has not been clarified yet, the fluid is clarified suitable for micro actuation, which means, a much powerful jet flow is observed with a smaller electrode pair. Accordingly, this study aims to develop novel micromotors and micro manipulators using the electro-conjugate fluid, and to realize a tiny helicopter using the components mentioned above for extreme environment like atomic reactors. The followings are the accomplishment of this study.By using the functional fluid, or the ECF, electric energy is easily transformed to mechanical energy. We have applied this interesting fluid to micromotors. Three types of ECF micromotors have been developed. First one is a SE type ECF micromotor, having electrode pairs on the stator. The second one is which we call a DP-RE type ECF mic … More romotor. This motor has electrode pairs on the disk-plate rotors. In addition, a C-RE type ECF micromotor is the third one, having electrode pairs on the surface of cylindrical rotor. The DP-RE type ECF micromotor shows the best performance, and 8-layer DP-RE type ECF micromotor with 5mm in inner diameter is developed.The ECF jet can also be used as a micro pressure source. We have developed an ECF micro manipulator using the pressure source. With increasing the inner pressure of a slightly-curved flexible tube, the displacement of front edge is observed just as Bourdon-tube. We are also developing an ECF micro flexible finger. The flexible tube has 3 parallel chambers along the axis, and inner pressures of each are independently controlled using ECF jet. Up to now, we have proposed the driving principle and investigated the manufacturing procedure using a large model with 4.5mm in diameter.Finally, we theoretically investigated on propeller shape of micro helicopter using the ECF micromotors having high power density. Less