An elliptic friction drive element using an ICPF actuator

Author

Tadokoro, Satoshi ; Murakami, Takahiko ; Fuji, Satoshi ; Kanno, Ryu ; Hattori, Motofumi ; Takamori, Toshi ; Oguro, Keisuke

Author_Institution

Dept. of Comput. & Syst. Eng., Kobe Univ., Japan

Volume

17

Issue

3

fYear

1997

fDate

6/1/1997 12:00:00 AM

Firstpage

60

Lastpage

68

Abstract

The ionic conducting polymer gel film (ICPF) actuator, which has advantages such as low driving voltage, high speed, and underwater motion, was discovered in 1992. This article presents a new actuator element using the ICPF which generates an elliptic motion, as used in ultrasonic motors, to drive objects by friction. A method of forming a pattern of ICPF on a membrane was developed for production of the element. Some robotic applications are proposed. Experimental elements effectively functioned as driving devices and successfully drove a rotary motor as a testimony. Experiments and modeling revealed the relationship of the resultant elliptic motion to control signals and design parameters

Keywords

conducting polymers; electric actuators; gels; mechatronics; polymer films; ultrasonic motors; ICPF actuator; elliptic friction drive element; elliptic motion; ionic conducting polymer gel film; rotary motor; Actuators; Biomembranes; Conductive films; Friction; Low voltage; Polymer films; Polymer gels; Production; Robots; Testing;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.588149

Filename

588149