Development of Stacked-Type Electrostatic Actuator Using Two Ribbon Films
Kazuo Okuda* and Keiji Saneyoshi**
*Electrical and Electronics Engineering Department, Suzuka National College of Technology, Shiroko-cho, Suzuka City, Mie 510-0294, Japan
**Center for Biological Resources and Informatics, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8503, Japan
A new stacked-type electrostatic actuator with two ribbon films has been developed to be applied to artificial muscles. In this paper, spring characteristics of the actuator have been simulated and compared to measured data. There are two regions in spring characteristics of the actuator: one is the working region where the actuator contracts easily, and the other is the overload region where the actuator is extended only negligibly by the load. Spring characteristics of the actuator have been simulated by nonlinear structural analysis including the contact problem using the finite element method. It is understood that spring characteristics of working and overload regions can be improved by thinning the hinge and by thickening the electrode. The stroke of the actuator can be controlled, furthermore, by changing the length of the hinge. When the size of the actuator is reduced and actuators are integrated until they become the same volume, voltage applied to the actuator to generate the same force is reduced in proportion to the reduction rate while the actuator keeps the same spring characteristics and stroke.
-  T. Nakamura, “Illustration: The world that artificial muscle soft actuator opens,” Nikkan Kogyo Shimbun Ltd., 2011.
-  T. Noritsugu, H. Ando, and T. Yamakana, “Rehabilitation support robot that used rubber artificial muscle (The first report: Achievement of training kinematics’ mode by impedance control),” Japanese robot society, Vol.13, No.1, pp. 141-148, 1995.
-  T. Noritugu, “Air pressure soft actuator and man harmony mechanism,” Japanese robot society, Vol.21, No.7, pp. 26-30, 2003.
-  T. Sugano, S. Tadokoro, T. Takamori, and K. Koguro, “Modeling of ICPF (ionic conduction polymer gel film) actuator: The third report, Stress generation characteristic and linear approximation actuator model,” Japan Society of Mechanical Engineers, C, Vol.63, No.611, pp. 2345-2350, 1997.
-  M. Hashimoto, M. Sibagaki, and T. Hirai, “Development of negative actuation type brake with shrinkage type PVC gel actuator,” Japanese robot society, Vol.29, No.8, pp. 667-674, 2011.
-  S. Kawamura, M. Nogata, S. Tadokoro, Y. Hayakawa, and S. Matsuura, “Basement of actuator for control,” corona company, 2006.
-  S. Egawa, M. Fujie, and T. Higuchi, “Study on Electro-static Actuator for Physical Aids,” J. of the Robotics Society of Japan, Vol.15, pp. 1147-1155, 1997.
-  T. Shinno, T. Higuchi, and S. Egawa, “AC drive both electrode type electrostatic motor,” Japanese robot society, Vol.15, No.1, pp. 97-102, 1997.
-  K.Minami, H.Morishita, andM. Esashi, “A bellows- shape electrostatic micro actuator,” Sensors and Actuators, Vol.72, pp. 269-276, 1999.
-  H. Inagaki and A. Saitho, “Trial manufacture of accumulating type electrostatic actuator,” Precision engineering society, Vol.59, No.10, pp. 1625- 1630, 1993.
-  K. Okuda and K. Saneyoshi, “Simulation of Stacked-type electrostatic actuator,” the 20th time of Japanese robot society (CD-ROM), 3K14, 2002.
-  K. Saneyoshi, K. Okuda, and Y. Hata, “Contraction property of Stacked-type electrostatic actuator,” the 22nd time of Japanese robot society (CD-ROM), 2C11, 2004.
-  K. Okuda, Y. Hata, and K. Saneyoshi, “A stacked-type electrostatic actuator with thick square electrodes,” Int. Conf. on Electrical Machines 2006, PMA4-6, Greece, Sept. 2006.
-  K. Okuda and K. Saneyoshi, “Simulation of Spring Characteristic of A New Stacked-type Electrostatic Actuator,” Int. Conf. on Ubiquitous Robots and Ambient Intelligence 2006, KRS050, Korea, Oct. 2006.
-  K. Okuda, Y. Hata, and K. Saneyoshi, “Improvement of spring constant of stacked-type electrostatic actuator,” the 10th robotics symposia, pp. 569-574, 2005.
-  K. Okuda, M. Tachiiri, Y. Hata, T. Takashige, and K. Saneyoshi, “Stacked-type triangle electrostatic actuator with Thick Electrodes and Thin Hinge,” the 11th Robotics symposia, pp. 308-313, 2006.
-  K. Saneyoshi, M. Kikuchi, T. Torii, and K. Matuda, “Stacked-type Electrostatic actuator using two ribbon films,” the 18th Japanese robot society, pp. 179-180, 2000.
-  K. Okuda, S. Kakegawa, M Itho, and K. Saneyoshi, “Improved property of stacked-type electrostatic actuator based on simulation,” the 16th robotics symposia, pp. 854-859, 2011.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.
Copyright© 2013 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.