JP5221302B2 - Polymer actuator - Google Patents

Description

  The present invention relates to an actuator that deforms when a potential difference is applied between electrodes, and more particularly to a polymer actuator that deforms due to movement of ions by an electric field.

2. Description of the Related Art Conventionally, as one of polymer actuators, an ion conduction actuator including an ion exchange resin layer and metal electrode layers formed on both sides in an insulated state with the ion exchange resin layer interposed therebetween is known. (For example, the following patent document 1). In this polymer actuator, a potential difference is applied between opposing metal electrode layers, and ions or polar molecules are localized on one surface side to cause bending and deformation in the ion exchange resin layer. As a function.
Japanese Patent Laid-Open No. 11-233504

  When this type of actuator is used in the form of a strip-like sheet, the displacement is large and the generated load (driving force) is small if the sheet is elongated. On the contrary, when the width is wide and the length is shortened, the generated load increases, but the displacement amount decreases.

  Therefore, the thickness and the aspect ratio are designed according to the required amount of displacement and the generated load, but it is difficult to increase both the amount of displacement and the generated load.

  The present invention has been made to solve the above-described conventional problems, and an object thereof is to provide a polymer actuator capable of obtaining a large amount of displacement and a generated load with a simple configuration.

The present invention includes an electrolyte layer and a pair of electrode layers provided on both surfaces of the electrolyte layer, and a first orthogonal to the electrode layer mainly according to an electric field applied between the pair of electrodes. In a polymer actuator provided with two or more flexible parts that bend and deform in the direction of
When an electric field in which each flexible portion bends in the same first direction is applied between the electrodes of each flexible portion, at least one flexible portion is deformed by a curved deformation including torsion. It wraps around at a position where it can abut against the surface forming the outside of the curved surface of the part, and the other flexible part is supported by the one flexible part.

  In this invention, when one flexible part deform | transforms, a big displacement amount and a driving force can be obtained with the simple structure of supporting the other flexible part arranged in parallel from the lower side.

  In the above, the pair of flexible portions are formed in an asymmetric shape between the one flexible portion and the other flexible portion.

  Alternatively, the shape of the pair of electrode layers formed on the one flexible portion is formed asymmetrical.

  Alternatively, the conductivity of the pair of electrode layers formed on both surfaces of the one flexible portion is different for each place within the electrode layer.

  In the above configuration, torsional deformation can be positively generated in one flexible part, and it can be supported by a greater force because it is displaced more greatly on the other flexible part side.

  Further, the plurality of flexible portions are arranged adjacent to each other in a staircase shape, and one flexible portion positioned on the lower stage side supports another flexible section disposed adjacent to the upper stage side. Can be performed sequentially from the lower side to the upper side.

  In the above means, the upper flexible portion can be sequentially supported by the lower flexible portion disposed adjacent thereto, so that the upper flexible portion has an elongated shape with a low generated load. Even so, it is possible to generate a larger generated load (driving force) by combining the generated loads generated by the flexible portions.

  The polymer actuator of the present invention can generate a large displacement and driving force with a simple configuration.

  FIG. 1 is a side view for explaining the basic principle of an ion conductive polymer actuator according to the present invention.

  An ion conductive polymer actuator 1 shown in FIG. 1 is provided on an electrolyte layer 2, a first electrode layer 3 provided on one surface of the electrolyte layer 2, and the other surface of the electrolyte layer 2. It is formed as a laminated polymer sheet 1A in which the second electrode layer 4 is stacked.

  The electrolyte layer 2 is a resin layer capable of ion exchange, and is obtained by impregnating an ion exchange resin with an electrolytic solution as an electrolyte. The ion exchange resin is obtained by introducing a hydrophilic functional group such as a sulfonic acid group or a carboxyl group into polyethylene, polystyrene, fluororesin or the like. The electrolytic solution is a polar organic solvent containing a salt or an ionic liquid. Alternatively, the electrolyte layer 2 may be a gel obtained by mixing an ionic liquid into a base polymer such as polyvinylidene fluoride.

  In the first electrode layer 3 and the second electrode layer 4, a conductive filler is included in the same electrolyte layer as the electrolyte layer 2. That is, the first electrode layer 3 and the second electrode layer 4 are configured by further mixing a conductive filler such as carbon nanotube or carbon nanofiber in an ion exchange resin impregnated with an electrolytic solution. Alternatively, a conductive filler may be mixed in the gel-like layer containing the ionic liquid.

  It is possible to adjust the conductivity of the first electrode layer 3 and the second electrode layer 4 by changing the ratio of the conductive filler mixed in the electrolyte layer 2.

  The sheet-like resin to be the electrolyte layer 2 is laminated with the sheet-like first electrode layer 3 and the sheet-like second electrode layer 4 mixed with the conductive filler, and is shown in FIG. A polymer sheet 1A having a three-layer structure can be formed. This polymer sheet 1A has a structure in which the interface between the electrolyte layer 2 and the first electrode layer 3 and the interface between the electrolyte layer 2 and the second electrode layer 4 have strong adhesion.

  As another method for forming the first electrode layer 3 and the second electrode layer 4, gold or silver is used on both surfaces of the ion exchange resin constituting the electrolyte layer 2 using a plating bath or a metal complex solution. Alternatively, the first electrode layer 3 and the second electrode layer 4 may be formed by attaching a conductive metal such as copper. In this case, the conductive metal has a structure in which a part of the conductive metal enters the resin constituting the electrolyte layer 2. Also in this case, the conductivity of the first electrode layer 3 and the second electrode layer 4 can be adjusted by changing the ratio of the conductive metal to be deposited.

  The polymer actuator 1 is fixed by sandwiching a fixed end 1a, which is one end of the polymer sheet 1A, from above and below by the restraining members 5a and 5b.

  As shown in FIG. 1, when an electric field is applied to the electrolyte layer 2 so that the first electrode layer 3 is on the anode side and the second electrode layer 4 is on the cathode side, ions and polarity in the electrolyte layer 2 are applied. Molecules shift to the second electrode layer 4 on the cathode side. When the first electrode layer 3 and the second electrode layer 4 are formed by mixing a conductive filler in an ion-exchangeable layer like the electrolyte layer 2, the first electrode layer 3 The ions and polar molecules dissociated in the second electrode layer 4 are also shifted to the second electrode layer 4 side.

  As a result, inside the electrolyte layer 2, the volume tends to expand at a position biased toward the second electrode layer 4 side. That is, since an expansion stress is generated on the second electrode layer 4 side and an expansion strain is generated based on the expansion stress, a bending stress is generated in the polymer sheet 1A. As shown by the solid line in FIG. Bending deformation occurs in the sheet 1 </ b> A and functions as the polymer actuator 1.

  In the following description, the displacement amount ΔH refers to the position in the Z direction in the initial state indicated by the broken line of the free end 1c and the solid line when the free end 1c is bent and deformed in the Z direction with the fixed end 1a as a reference. It means the difference from the position in the Z direction after deformation. The displacement amount ΔH is proportional to the distance between the fixed end 1a and the free end 1c. The generated load (driving force) is the maximum force that can lift the free end 1c of the polymer actuator 1, or the amount of displacement ΔH = 0 maintained when the load applied to the free end 1c is increased. It means the maximum load (withstand load) that can be done.

  When the polymer sheet 1A is bent and deformed, the polymer sheet 1A is bent and deformed mainly in a first direction α1 (in the direction of the arrow in FIG. 1) orthogonal to the first electrode layer 3. At this time, the curved surface on the side where the center of curvature of bending in the first direction is located is defined as the inner surface of the polymer sheet 1A, and the curved surface on the opposite side is defined as the outer surface (surface forming the outer side). . In FIG. 1, the surface of the first electrode layer 3 corresponds to the inner surface of the polymer sheet 1A, and the surface of the second electrode layer 4 corresponds to the outer surface (surface forming the outside) of the polymer sheet 1A. Yes. However, when the first direction in which the polymer sheet 1A is bent and deformed by applying the electric field in the opposite direction is α2 (the direction opposite to the α1 direction) orthogonal to the second electrode layer 4, the first The surface of the electrode layer 3 corresponds to the outer surface (surface forming the outside) of the polymer sheet 1A, and the surface of the second electrode layer 4 corresponds to the inner surface of the polymer sheet 1A.

  FIG. 2 is a perspective view showing a polymer actuator as a first embodiment of the present invention, FIG. 3 is a front view showing the polymer actuator when viewed in the Y2 direction of FIG. 2, and FIG. FIG. 4 is a side view showing a state in which the polymer actuator is viewed in the X1 direction in FIG. 2, and FIG. 4A is a non-driving state and FIG. 4B is a driving state.

  As shown in FIGS. 2 to 4, the polymer actuator 10 shown in the first embodiment is formed of two polymer sheets that operate independently of each other. That is, the polymer actuator 10 includes two sheets of a first polymer sheet (first flexible portion) 20 having a strip shape and a second polymer sheet (second flexible portion) 30 having a triangular shape. It is composed of a polymer sheet.

  The structure of the first polymer sheet (first flexible part) 20 and the second polymer sheet (second flexible part) 30 is the same as the basic principle described above, but only the appearance is different. It is. That is, each of the first polymer sheet 20 and the second polymer sheet 30 is provided with the first electrode layer 3 and the second electrode layer 4 that form a pair of electrode layers on both surfaces of the electrolyte layer 2. It is a configuration.

  Both the first polymer sheet 20 and the second polymer sheet 30 are arranged side by side with a predetermined gap in the width (X) direction while the longitudinal direction is directed in the Y direction. Then, the fixed end 21 of the first polymer sheet 20 and the fixed end 31 of the second polymer sheet 30 are sandwiched from the plate thickness direction (Z direction) by the restraining members 15a and 15b, so that the same plane. It is fixed in a cantilevered state on the top. The other end portions (tips) of the first polymer sheet 20 and the second polymer sheet 30 constitute free ends 22 and 32 that can be freely bent and deformed in the Z1-Z2 direction.

  One first polymer sheet 20 is formed as a band-shaped member having a constant width dimension between the fixed end 21 and the free end 22, and is a virtual center line Oa parallel to the Y axis and passing through the center thereof. The shape is symmetrical with respect to -Oa.

  The other second polymer sheet 30 is formed as a triangular member having the widest width on the fixed end 31 side and the narrowest on the free end 32 side. The second polymer sheet 30 has a shape that is asymmetric with respect to a virtual center line Ob-Ob that is parallel to the Y axis and passes through the center thereof. In particular, the length of one side 33 parallel to the longitudinal direction of the second polymer sheet 30, that is, one side 33 near the first polymer sheet 20 on the X2 side in the drawing is the length of the second polymer sheet 30. This is a configuration shorter than the length dimension of the hypotenuse 34 which is the other side on the X1 side in the drawing. Thus, the other second polymer sheet 30 is formed with a dimensional difference between the left and right sides.

The operation of the polymer actuator having the above configuration will be described.
When a predetermined voltage is applied between the first electrode layer 3 and the second electrode layer 4 constituting the first polymer sheet 20 and the second polymer sheet 30, respectively, the first polymer sheet 20 An electric field is generated in each of the electrolyte layers 2 and 2 of the second polymer sheet 30.

  Then, as shown by a solid line in FIG. 2, the first polymer sheet 20 and the second polymer sheet 30 undergo bending deformation in the first direction α1, and the free end 22 and the free end 32 are shown as Z1 in the drawing. It is transformed to lift in the direction.

  At this time, since one first polymer sheet 20 has a bilaterally symmetric shape, the free end 22 is lifted almost directly along the Z1 direction in a state where there is little deflection in the left-right direction (X direction).

  On the other hand, the shape of the other second polymer sheet 30 is asymmetrical, and the length dimension of one side 33 on the X2 side in the drawing is shorter than the hypotenuse 34 that is the other side. For this reason, the resistance value on the hypotenuse 34 side is larger than the resistance value on the one side 33 side of the illustrated X2 side, which has a short length, and the magnitude of the electric field applied to the electrolyte layer 2 is transiently shown in the X2 diagram. The hypotenuse 34 is larger than the one side 33 on the side. For this reason, when viewed transiently, the density of ions distributed in the electrolyte layer 2 is not uniform, and more ions are distributed on the one side 33 side of the X2 side than the oblique side 34 side. As a result, in the electrolyte layer 2, the expansion of the volume is increased at a position that is biased toward the one side 33 side of the illustrated X2 side rather than the oblique side 34 side. That is, the generated expansion stress is larger on the side 33 on the X2 side than on the hypotenuse 34 side, and the second polymer sheet 30 is subjected to expansion strain based on this, and the amount of elongation in the longitudinal direction is X2 in the figure. The hypotenuse 34 side is larger than the one side 33 side. Therefore, transiently, a difference occurs between the elongation amounts of the left and right sides forming the second polymer sheet 30, and a twist based on the difference between the elongation amounts occurs throughout the second polymer sheet 30.

  Due to this torsional deformation, the free end 32 of the second polymer sheet 30 forms the outside of the curved surface of the adjacent first polymer sheet 20 as shown in FIGS. 3B and 4B. It goes around to a position where it can come into contact with the surface (outer surface), contacts with the outer surface of the first polymer sheet 20, and further lifts the first polymer sheet 20 upward (Z1 direction) in the figure. Therefore, the driving force F1 of the first polymer sheet 20 itself and the driving force F2 of the second polymer sheet 30 simultaneously act on the first polymer sheet 20 in the first direction α1. A large driving force (F1 + F2) can be generated as a whole of the polymer actuator 10.

  Here, in general, in the case where the polymer sheet is in the shape of a belt whose overall length L is longer than the width dimension W (W << L), the driving force is small but the displacement amount ΔH is large. In contrast, when the total length is short (W >> L), the displacement amount ΔH is small, but a large driving force is generated. In the present embodiment, since the shape of at least the first polymer sheet 20 is an elongated strip (W << L), it is possible to ensure a large displacement amount ΔH.

  In the polymer actuator 10 shown in the first embodiment, the large displacement amount ΔH is generated as described above, and the second polymer sheet 30 lifts the first polymer sheet 20, so that it is large as a whole. A driving force can be generated.

  As described above, in order to cause torsional deformation in the second polymer sheet 30, the distribution of ions in the electrolyte layer 2 may be controlled. For this purpose, the second polymer sheet 30 as described above is used. A method other than making the shape of the left and right asymmetric with respect to the virtual center line may be used.

  For example, it can be realized by making the conductivity of the first electrode layer 3 and the second electrode layer 4 forming the second polymer sheet 30 different from place to place inside each electrode layer. is there. Thereby, even if the second polymer sheet 30 itself has a bilaterally symmetric shape with respect to the virtual center line, it is possible to cause the same torsional deformation as in the case of the bilaterally asymmetric shape (triangular shape). .

  However, if the second polymer sheet 30 has an asymmetrical shape with respect to the virtual center line, and additionally the conductivity is made different for each location within each electrode layer, the amount of twist displacement is further increased. Therefore, it becomes possible to generate a larger driving force.

  As described above, the conductivity distribution is adjusted by changing the ratio of the conductive filler mixed in the electrolyte layer forming the first electrode layer 3 and the second electrode layer 4, or by attaching the conductivity. This can be done by changing the metal ratio.

  Furthermore, the shape of the electrolyte layer 2 may be bilaterally symmetric with respect to the virtual center line, and only the shapes of the first electrode layer 3 and the second electrode layer 4 formed on both surfaces thereof may be bilaterally asymmetric. . Further, in order to make the left-right asymmetric with respect to the virtual center line, a region where no electrode layer is formed may be provided in a part of the electrolyte layer 2.

FIG. 5 is a plan view of a polymer actuator showing a second embodiment of the present invention.
The polymer actuator 50 shown in FIG. 5 is formed by a single polymer sheet 1A. The structure of the polymer sheet 1A is the same as the above basic principle. However, in the second embodiment, one cut 50a is formed in the polymer sheet 1A up to the middle of the sheet, and the first flexible portion 51 and the second flexible portion 52 are formed by the cut 50a. And are separated.

  One of the first flexible portions 51 is formed as an elongated strip included in a symmetrical shape with respect to one virtual center line Oa-Oa, and the other second flexible portion 52 is formed with the other virtual center line Ob-. It is formed as a substantially triangular shape that is asymmetrical with respect to Ob.

  For this reason, when an electric field is applied between the first electrode layer 3 and the second electrode layer 4 in the same manner as described above, the same torsional deformation as described above occurs in the second flexible portion 52 having a substantially triangular shape, It is possible to go around the curved surface of the first flexible portion 51 and contact the outer surface of the first flexible portion 51 to support it. Therefore, similarly to the above, the polymer actuator 50 can generate a large displacement amount ΔH and a large driving force.

  As described above, the first flexible portion and the second flexible portion can be formed of the same single polymer sheet, and two separate high portions can be formed as shown in the first embodiment. It can also be formed from molecular sheets.

FIG. 6 is a plan view of a polymer actuator showing a third embodiment of the present invention.
The polymer actuator 60 shown in the third embodiment includes a first polymer sheet (first flexible portion) 61 having an asymmetric shape with respect to one virtual center line Oa-Oa and the other virtual axis. It is formed by a second polymer sheet (second flexible portion) 62 having an asymmetric shape with respect to the center line Ob-Ob.

  The direction in which the first polymer sheet (first flexible portion) 61 and the second polymer sheet (second flexible portion) 62 are bent and deformed is the same first direction, that is, from the front side to the back side of the page. The direction to go or vice versa. The direction in which the first polymer sheet (first flexible portion) 61 and the second polymer sheet (second flexible portion) 62 are twisted and deformed is a direction in which they approach each other. For this reason, one first polymer sheet 61 and the other second polymer sheet 62 are likely to cross each other. Therefore, one of the first polymer sheet 61 and the other second polymer sheet can be surely supported under the other.

  Thus, in the polymer actuator of the present invention, a combination of a polymer sheet (first flexible portion) that is bilaterally symmetric with respect to the virtual center line and a polymer sheet (second flexible portion) that is asymmetrical to the left and right. It can also be formed by combining two polymer sheets (flexible portions) that are asymmetric with respect to the virtual center line.

  Next, FIG. 7 is a plan view of a polymer actuator showing a fourth embodiment of the present invention. As shown in FIG. 7, the number of flexible portions is not limited to two, and a configuration having a plurality of flexible portions may be used.

  In the polymer actuator 70 shown by a solid line in FIG. 7, a plurality of (four in FIG. 7) polymer sheets (flexible portions) 71, 72, 73, 74 having a band shape or a claw shape are formed as a pair of curved restraining members. It is clamped by 75 from the plate | board thickness direction, and is fixed in the state arrange | positioned adjacently at step shape. The polymer actuator 70 is formed such that the uppermost polymer sheet 71 located on the rightmost OO line protrudes most in the Y1 direction, and is disposed adjacent to the lower side of the polymer sheet 71. The sheet 72 protrudes second, and the polymer sheet 73 disposed adjacent to the lower side of the polymer sheet 72 protrudes third. And the protrusion amount of the polymer sheet 74 provided in the lowest step of the left end is the smallest. The structure of each polymer sheet (flexible part) 71, 72, 73, 74 is the same as the above basic principle. Note that the curved shape of the restraining member 75 includes a wave shape, an arc shape, an elliptical shape, and the like.

  In this embodiment, the lengths of the left and right sides of the uppermost polymer sheet 71 having the largest protrusion amount are the same. That is, the polymer sheet 71 having the largest protrusion amount is formed in a shape that is symmetrical with respect to the virtual center line.

  On the other hand, the polymer sheet 72 arranged adjacent to the lower side is formed such that the inner side on the X1 side near the polymer sheet 71 is short and the outer side on the opposite side (X2 side) is long. A dimensional difference ΔL1 is provided between the lengths of the left and right sides (inner side and outer side). Similarly, the polymer sheet 73 disposed adjacent to the lower stage side of the polymer sheet 72 is provided with a dimensional difference ΔL2, and further the dimension is provided to the lowermost polymer sheet 74 disposed adjacent to the lower stage side of the polymer sheet 73. A difference ΔL3 is provided. The relationship between these dimensional differences is ΔL1 <ΔL2 <ΔL3, and the dimensional difference ΔL increases from the polymer sheet 71 positioned at the uppermost level toward the polymer sheet 74 at the lowermost level. That is, the polymer sheets 72, 73, 74 other than the uppermost polymer sheet 71 having the largest protrusion amount are formed in a shape that is asymmetrical with respect to the respective virtual center lines.

  When an electric field based on a potential difference is applied between each first electrode layer 3 and second electrode layer 4 forming each polymer sheet (flexible portion) 71, 72, 73, 74, each polymer sheet (Flexible portions) 71, 72, 73, and 74 all undergo bending deformation in the same first direction (the direction from the front side to the back side of the page, or the opposite direction). At the same time, torsional deformation corresponding to the dimensional differences ΔL1, ΔL2, and ΔL3 occurs in the polymer sheets (flexible portions) 72, 73, and 74. In this case, the amount of torsional deformation is the largest for the polymer sheet 74 having the largest dimensional difference ΔL3, the largest for the polymer sheet 73 having the dimensional difference ΔL2, and the smallest for the polymer sheet 73 having the dimensional difference ΔL1. .

  For this reason, the free end of the polymer sheet 72 wraps around the curved surface of the uppermost polymer sheet 71 to support the polymer sheet 71, and the free end of the polymer sheet 73 located on the lower stage side thereof A polymer sheet that wraps around the curved surface of the polymer sheet 72 located on the upper stage side to support the polymer sheet 72, and further has a free end of the polymer sheet 74 located on the lower stage side located on the upper stage side. The polymer sheet 73 is supported around the curved surface of 73. That is, the polymer sheet 74 located at the lowermost stage has a free end thereof adjacent to the upper polymer sheet 73, and the polymer sheet 73 has a free end adjacent to the upper stage polymer sheet 72, Furthermore, the upper polymer sheet 71 adjacent to the free end of the polymer sheet 72 can be supported in this order.

  Therefore, since the driving force of the polymer sheets 72, 73, 74 located on the lower side acts on the uppermost polymer sheet 71 having the largest protrusion amount, a large driving force is generated in the polymer sheet 71. Can do. Furthermore, since the torsional deformation is applied to each of the polymer sheets 72, 73, 74, the displacement amount of the polymer sheet 71 can be increased.

  In addition, when the electric field based on an electrical potential difference is simultaneously given to each polymer sheet (flexible part) 71, 72, 73, 74, the case where it does not overlap in said order is also considered. In such a case, the time for generating an electric field in each polymer sheet (flexible part) so that the deformation order is polymer sheet 71, polymer sheet 72, polymer sheet 73, and polymer sheet 74. It is preferable to provide a difference (time difference). That is, first, an electric field is applied to the uppermost polymer sheet 71, then an electric field is applied to the lower polymer sheet 72, an electric field is further applied to the lower polymer sheet 73, and finally, the lowermost polymer sheet 73 is applied. An electric field is applied to the sheet 74. Thereby, each polymer sheet (flexible part) 71, 72, 73, 74 is surely overlapped in order, and one adjacent polymer sheet (flexible part) is replaced with another polymer sheet (flexible part). (Flexible part) can be supported.

  In addition, as shown by a dotted line in FIG. 7, when the polymer sheets (flexible portions) 72 ′, 73 ′ and 74 ′ are formed so as to be a line object with respect to the center line OO, the drive that generates these is performed. Since the force can be applied to the uppermost polymer sheet 71 having the largest protrusion amount, a larger driving force can be generated and the displacement amount of the polymer sheet 71 can be increased.

  In the embodiment shown in FIG. 6 and FIG. 7, the case where each flexible portion is configured using a separate polymer sheet has been described, but the present invention is not limited to this and is shown in FIG. 5. Similarly to the second embodiment, it may be composed of a single sheet.

The side view for demonstrating the basic principle of the ion conductive type polymer actuator in this invention, The perspective view which shows a polymer actuator as 1st Embodiment of this invention, It is a front view of a polymer actuator, (A) is a non-driving state, (B) is a driving state, It is a side view of a polymer actuator, (A) is a non-driving state, (B) is a driving state, The top view of the polymer actuator which shows the 2nd Embodiment of this invention, The top view of the polymer actuator which shows the 3rd Embodiment of this invention, The top view of the polymer actuator which shows the 4th Embodiment of this invention,

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Polymer actuator 1A Polymer sheet 1a Fixed end 1c Free end 2 Electrolyte layer 3 1st electrode layer 4 2nd electrode layer 5a, 5b Restraining member 20 1st polymer sheet (1st flexible part)
30 Second polymer sheet (second flexible portion)
21, 31 Fixed end 22, 32 Free end 33 One side 34 of X2 side Slanted side 50 Polymer actuator 50a Cut line 51 First flexible part 52 Second flexible part 60 Polymer actuator 61 First polymer sheet (first 1 flexible part)
62 2nd polymer sheet (2nd flexible part)
70 Polymer Actuators 71, 72, 73, 74 Polymer Sheet (Flexible Part)
75 Restraint member

Claims (5)

An electrolyte layer and a pair of electrode layers provided on both surfaces of the electrolyte layer, respectively, and curved in a first direction orthogonal to the electrode layer mainly in response to an electric field applied between the pair of electrodes In the polymer actuator provided with two or more flexible parts to be deformed,
When an electric field in which each flexible portion bends in the same first direction is applied between the electrode layers of each flexible portion, at least one flexible portion may be deformed by bending deformation including torsion. A polymer actuator, characterized in that it wraps around at a position where it can abut against a surface forming the outer side of the curved surface of the portion, and the other flexible portion is supported by the one flexible portion.   The polymer actuator according to claim 1, wherein the one flexible portion has an asymmetric shape in plan view.   3. The polymer actuator according to claim 1, wherein the pair of electrode layers formed on the one flexible portion are formed asymmetrically in the left-right direction.   The polymer actuator according to any one of claims 1 to 3, wherein conductivity of the pair of electrode layers formed on both surfaces of the one flexible portion is different for each place inside the electrode layer. .   A plurality of the flexible portions are arranged adjacent to each other in a stepped manner, and one flexible portion located on the lower stage side supports another flexible section arranged adjacent to the upper stage side. The polymer actuator according to claim 1, wherein the polymer actuator is sequentially performed from the lower side to the upper side.

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