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An elliptic friction drive element using an ICPF actuator

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7 Author(s)
Tadokoro, S. ; Dept. of Comput. & Syst. Eng., Kobe Univ., Japan ; Murakami, T. ; Fuji, S. ; Kanno, R.
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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

Published in:

Control Systems, IEEE  (Volume:17 ,  Issue: 3 )