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Fast-moving bimorph actuator based on electrochemically treated millimeter-long carbon nanotube electrodes and ionic liquid gel

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International Journal of Smart and Nano Materials 2012年第4期3卷 263-274页

作者： Kentaro Yamato Ken Mukai Kenji Hata kinji asaka Health Research Institute National Institute of Advanced Industrial Science and Technology(AIST)1-8-31 MidorigaokaIkedaOsaka 563-8577Japan Nanotube Research Center National Institute of Advanced Industrial Science and Technology(AIST)Central 51-1-1 HigashiTsukubaIbaraki 305-8565Japan

The development is described of an electromechanical bimorph actuator composed of ionic liquid gel sandwiched by electrochemically treated millimeter-long single-walled carbon nanotubes(SG-SWNT).Electrochemical doping of the SG-SWNT and electrochemical polymerization of polypyrrole on the surface of the SG-SWNT improved the performance of a previously reported actuator using non-treated SG-SWNTs.The conductivity of the SG-SWNT sheets treated at the anodic potential(doped)was found to be three times larger than that of the original film.The generated strain of the actuator prepared from the doped SG-SWNT sheets was increased compared to that prepared from non-doped sample.Moreover,the generated strain of the actuator from the doped SG-SWNT sheets swelled with ionic liquid(IL)was increased to twice that without ILs.The electropolymerization of pyrrole on the surface of the SG-SWNT sheet was carried out.The conductivity of the SG-SWNT was seven times larger after the electropolymerization.The generated strain of the SG-SWNT actuator prepared from the SG-SWNT sheets with electropolymerization was twice as large as that without the electropolymerization at low frequency.At higher frequency,both actuators provide almost the same performance.Both actuators exhibit mechanical resonance at about 100 Hz.

关键词： carbon nanotube polypyrrole electrochemical doping ionic liquid bimorph actuator

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Development of an Amphibious Turtle-Inspired Spherical Mother Robot

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Journal of Bionic Engineering 2013年第4期10卷 446-455页

作者： Liwei Shi Shuxiang Guo Shilian Mao Chunfeng Yue Maoxun Li kinji asaka School of Life Science Beo'ing Institute of Technology Beijing 100081 P. R. China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa 761-0396 Japan Graduate School of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa 761-0396 Japan Kansai Research Institute AIST 1-8-31 Midorigaoka Ikeda Osaka 563-8577 Japan

Robots play an important role in underwater monitoring and recovery operations, such as pollution detection, submarine sampling and data collection, video mapping, and object recovery in dangerous places. However, regular-sized robots may not be suitable for applications in some restricted underwater environments. Accordingly, in previous research we designed several novel types of bio-inspired microrobots using Ionic Polymer Metal Composite （IPMC） and Shape Memory Alloy （SMA） ac- tuators. These microrobots possess some attributes of compact structure, multi-functionality, flexibility, and precise positioning. However, they lack the attributes of long endurance, stable high speed, and large load capacity necessary for real-world appli- cations. To overcome these disadvantages, we proposed a mother-son robot system, composed of several microrobots as sons and a newly designed amphibious spherical robot as the mother. Inspired by amphibious turtles, the mother robot was designed with a spherical body and four legs with two Degrees of Freedom （DOF）. It is actuated by four vectored water-jet propellers and ten servomotors, and it is capable of walking on land and cruising underwater. We analysed the mother robot＇s walking and underwater cruising mechanisms, constructed a prototype, and carried out a series of experiments to evaluate its amphibious motions. Good motion performance was observed in the experiments.

关键词： amphibious robot biomimetic underwater robot mother-son robot system spherical robot vectored water-jet propeller

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Actuation and blocking force of stacked nanocarbon polymer actuators

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International Journal of Smart and Nano Materials 2018年第3期9卷 184-198,I0003页

作者： Ken Mukai Masahiro Yamamura Junko Kamata Hirosato Monobe kinji asaka Inorganic Functional Material Research institute National Institute of Advanced Industrial Science and Technology(AIST)OsakaJapan

We have developed stacked nanocarbon polymer actuators that are composed of several nanocarbon polymer actuator films using nonwoven fabric as insulation layers.The nonwoven fabric prepared through electrospinning methods has extremely-low-density structures,which do not significantly prevent the motions of each nanocarbon actuator layer.Therefore,stacking several thin nanocarbon polymer actuators using nonwoven fabric as insulation layers is expected to increase generated force without decreasing the displacement of a one-layer actuator.We have prepared stacked actuators with one,two,three,four,and seven layers using this method.The displacement and blocking force of these actuators are measured and compared with those of one-layer actuators of different thicknesses.Displacement is weakly dependent on the thickness of the actuator films of the stacked actuators.On the contrary,it decreases considerably as the thickness of the actuator film of the one-layer actuator increases.In both cases,blocking force is proportional to the thickness of actuator films.We have developed a stacked actuator model based on a trilayer actuator model and confirmed the experimental results using the model.

关键词： Nanocarbon actuator polymer stacking model

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A New Type of Hybrid Fish-like Microrobot

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International Journal of Automation and computing 2006年第4期3卷 358-365页

作者： kinji asaka Kansai Research Institute AIST MidorigaokaOsaka 563-8577Japan

In order to develop a new type of fish-like microrobot with swimming, walking, and floating motions, in our past research, we developed a hybrid microrobot actuated by ionic conducting polymer film （ICPF） actuators. But the microrobot had some problems in walking and floating motions. In this paper, we propose a concept of hybrid microrobot （see Fig. 1）. The microrobot is actuated by a pair of caudal fins, a base with legs and an array of artificial swim bladders. We have developed a prototype of the base with legs and one artificial swim bladder, respectively, and carried out experiments for evaluating their characteristics. Experimental results show the base with legs can realize walking speed of 6 mm/s and rotating speed of 7.1 degrees/s respectively, and the prototype of the artificial swim bladder has a maximum floatage of 2.6 mN. The experimental results also indicate that the microrobot has some advantages, such as walking motion with 2 degrees of freedom, the walking ability on rough surface （sand paper）, the controllable floatage, etc. This kind of fish-like microrobot is expected for industrial and medical applications.

关键词： Biomimetic locomotion ionic conducting polymer film （ICPF） actuator hybrid microrobot underwater microrobot

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A NEW TYPE OF MICROPUMP DRIVEN BY A LOW ELECTRIC VOLTAGE

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Acta Mechanica Sinica 2004年第2期20卷 146-151页

作者：郭书祥 asaka kinji Dept.ofIntelligentMechanicalSystemsEng'g KagawaUniversityTakamatsu761-0396Japan NationalInstituteofAdvancedIndustrialScienceandTechnology(AIST) Osaka563Japan)

In this paper,we propose a new prototype model of a micro pump using ICPF(Ionic Conducting Polymer Film)actuator as the servo actuator.This micro pump consists of two active one- way valves that make use of the same ICPF actuator.The overall size of this micro pump prototype is 12mm in diameter and 20mm in length.The actuating mechanism is as follows:(1)The ICPF actuator as the diaphragm is bent into anode side by application of electricity.Then the volume of the pump chamber increases,resulting in the inflow of liquid from the inlet to the chamber.(2)By changing the current direction,the volume of the pump chamber decreases,resulting in the liquid flow from the chamber to the outlet.(3)The ICPF actuator is put on a sine voltage,the micro pump provides liquid flow from the inlet to the outlet continuously.Characteristic of the micro pump is measured.The experimental results indicate that the micro pump has the satisfactory responses.

关键词： micro machine micropump ionic conducting polymer film(ICPF)actuator medical applications biotechnology

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