Conference Activities & Talks -

単純構造モデルを用いたコイル型ナイロンアクチュエータの有限要素解析

硴塚 龍望, 菊地 邦友

第17回和歌山大学システム工学部・近畿大学生物理工学部学生研究成果発表会  2018.03   (一社) 和歌山情報サービス産業協会 (WAKASA), 和歌山大学システム工学部, 近畿大学生物理工学部, （公財）わかやま産業振興財団

表面がパターニングされたイオン導電性高分子センサの出力特性評価

内田 周作, 菊地 邦友

日本機械学会 関西学生会2017年度学生員卒業研究発表講演会  2018.03   一般社団法人日本機械学会 関西支部

導電性高分子ヒータを用いたコイル状ナイロナクチュエータの作製条件が駆動特性に与える影響

生駒 啓人, 菊地 邦友, 福井 龍一, 奥崎 秀典

日本機械学会 関西学生会2017年度学生員卒業研究発表講演会  2018.03   一般社団法人日本機械学会 関西支部

導電性高分子を用いたコイル状ナイロンアクチュエータの動作特性

福井 龍一, 生駒 啓人, 硴塚 龍望, 菊地 邦友, 奥崎 秀典

平成29年度 計測自動制御学会関西支部・システム制御情報学会 若手研究発表会  2018.01   計測自動制御学会関西支部, システム制御情報学会

Evaluation of Operation Characteristics of Ionic Polymer-Metal Composite as a Self-Sensing Actuator with Variable Electrode Pattern

UCHIDA Shusaku, KIKUCHI Kunitomo

The Proceedings of Mechanical Engineering Congress, Japan  2018   The Japan Society of Mechanical Engineers

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<p>Ionic polymer-metal composite (IPMC) is one of the most promising soft actuators for practical applications of medical and welfare devices. Also, IPMC can work as a self-sensing actuator because it is a kind of smart material which can generate voltage by its deformation. In this study, effects of separated electrodes at three different sizes on operation characteristics of sensing outputs of self-sensing IPMCs are evaluated with applying a driving voltage to the actuator part. The self-sensing IPMCs have three separated electrodes formed by a machining process which work as an actuator part, a sensor part and a shield part, respectively. In the evaluation, a bridge circuit is used because the outputs of the sensor parts are small. As a result, the sensing outputs can be seen in the IPMC with the smallest cutting grooves because the length and width of the sensor affects the sensor outputs. Moreover, it is confirmed that larger cutting groove can decrease noise from the driving voltage for the actuator part in the sensor outputs. It is suggested that the width and length of separated electrodes of the self-sensing IPMC are important to operate as the self-sensing actuator.</p>

Evaluation of Driving Characteristics of a Nylon Actuator Driven with PEDOT:PSS Heater

IKOMA Hiroto, FUKUI Ryuichi, KIKUCHI Kunitomo, OKUZAKI Hidenori

The Proceedings of Mechanical Engineering Congress, Japan  2018   The Japan Society of Mechanical Engineers

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<p>In this study, we propose a novel coiled thermoplastic polymer actuator with a conductive polymer heater made of PEDOT:PSS. Also, the driving characteristics of the proposed actuator are evaluated. As a result, it was confirmed that the actuator was able to be driven by applying a low voltage with contraction ratios (5.0[%]) as same as those in the previous studies with applying 5.0 [V]. In addition, we evaluate driving characteristics of the actuators fabricated by our proposed method with a hydrophilic treatment and fixing process in the coling. The actuator with the hydrophilic treatment can operate with smaller differences of contraction ratios of the each actuator than that without the treatment. Also, the response speed of the actuator with fixing process in the coling is improved by 12.6[%] compared to that without the process. It is suggested that these improvements are provideed by good conductivity of PEDOT:PSS fabricated by the proposed method because the length of the actuator is variable to provide PEDOTPSS enogh thickness during membrane production. As a conclusion, it is confirmed that the proposed method has a posibility to improve the driving characterisitics of the thermoplastic polymer actuator.</p>

Development of motion mechanism using nylon actuator for realization of hand opening/closing motion auxiliary device

ISHIDA Ryuichi, KIKUCHI Kunitomo

The Proceedings of Conference of Kansai Branch  2018   The Japan Society of Mechanical Engineers

Effect of Moisture Content on Driving Characteristics of a Coiled Nylon Actuator

DOYAMA Haruka, KIKUCHI Kunitomo, TANAKA Satoshi, MATUNAMI Kyouhei, FUKUI Ryuichi

The Proceedings of Conference of Kansai Branch  2018   The Japan Society of Mechanical Engineers

Development of a Dielectric Elastomer Actuator with Conductive Polymer Electrodes

FUKUI Ryuichi, KIKUCHI Kunitomo, OKADA Akihiro, IKOMA Hiroto, KAKITSUKA Ryuto, OKUZAKI Hidenori

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018   The Japan Society of Mechanical Engineers

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<p>In this study, we propose a DEA with conductive polymer electrodes made of PEDOT:PSS-PG because conventional dielectric elastomer actuators use conductive greases or metals for electrode and difficult to drive stably due to their stiffness and deformation. The proposed DEA consists of polymer materials fully. From the characteristics evaluations, the proposed DEA can exhibit 7.3[%] maximum area strain at 5.6[kV]. It drives stably because the dielectric breakdown strength is almost constant in different samples. Also, PEDOT:PSS electrodes have a possibility to be used as transparent electrodes. As these results, the proposed DEA will be helpful to improve driving characteristics of DEA.</p>

Evaluation of Driving Characteristics of Ionic Polymer-Metal Composite Actuators Driven by PWM Control Method

FUKUI Ryuichi, KIKUCHI Kunitomo

The Proceedings of Mechanical Engineering Congress, Japan  2018   The Japan Society of Mechanical Engineers

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<p>Ionic polymer-metal composite (IPMC) is one of the most promising soft actuators. IPMC is expected to be applied to medical devices such as microgrippers for cells because of its high biocompatibility. However, there are some big problems to be solved in IPMC when IPMC work in practical applications including micro grippers. For example, it is difficult to miniaturize the control devices with IPMC. Also, IPMC usually have a back-relaxation after initial large deformation. In this study, we propose a pulse width modulation (PWM) driving method by using a single board computer to make IPMC drive stably with low back-relaxation. In order to achieve our purpose of this study, we designed a driving circuit and evaluated the operation characteristics of the IPMC driven by the proposed method. As a result, the displacement of IPMC is greatly displaced during the first about 5 seconds in the proposed method. However, it is found that the displacement stabilized without back-relaxation compared with the case using the potentiostat. As a conclusion, it is confirmed that the proposed method is useful for IPMC with stable driving.</p>

印加電圧波形の制御により揺れ戻り軽減させたイオン導電性高分子金属接合体の動作特性評価

福井 龍一, 菊地 邦友

第18回 計測自動制御学会システムインテグレーション部門講演会 (SI2017)  2017.12   公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門

Effects of external electric field on spreading of a surfactant on aqueous surface

Shigeki Tsuchitani, Takuya Shuto, Hirofumi Miki, Kunitomo Kikuchi

ABSTRACTS OF PAPERS OF THE AMERICAN CHEMICAL SOCIETY  2017.08   AMER CHEMICAL SOC

Development of a Multimaterial IPMC Fabricated by 3D Printing Technologies

Taisuke Norioka, Kunitomo Kikuchi

2017 International Workshop on Active Materials and Soft Mechatronics (2017AMSM)  2017.08   Inorganic Functional Material Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)

A Finite Element Analysis with a Simple Structure Model for a Thermoplastic Polymer Actuator

Ryuto Kakitsuka, Kunitomo Kikuchi

2017 International Workshop on Active Materials and Soft Mechatronics (2017AMSM)  2017.08   Inorganic Functional Material Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)

Driving Characteristics of Ionic Polymer-Metal Composite in Simulated Body Fluid

Kunitomo Kikuchi, Souta Nakano

2017 International Workshop on Active Materials and Soft Mechatronics (2017AMSM)  2017.08   Inorganic Functional Material Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)

Effects of Wave Shapes of Applied Voltages on Driving Characteristics of Ionic Polymer-Metal Composite

Ryuichi Fukui, Kunitomo Kikuchi

2017 International Workshop on Active Materials and Soft Mechatronics (2017AMSM)  2017.08   Inorganic Functional Material Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)

Driving Characteristics of 3D Printed Thermoplastic Polymer Actuator Using a Nylon Filament

Hiroto Ikoma, Kunitomo Kikuchi

2017 International Workshop on Active Materials and Soft Mechatronics (2017AMSM)  2017.08   Inorganic Functional Material Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)

イオン導電性アクチュエータ用高分子膜に対するイオン含有状態へのカチオン交換時間の影響

土山 春香, 菊地 邦友, 石原 大地, 森 将人

日本機械学会関西学生会平成28年度学生員卒業研究発表講演会  2017.03   日本機械学会関西支部

ナイロンアクチュエータの駆動モデルの検討

硴塚 龍望, 菊地 邦友, 石原 大地

日本機械学会関西学生会平成28年度学生員卒業研究発表講演会  2017.03   日本機械学会関西支部

Finite element analysis of a drive model of a nylon actuator

KAKITSUKA Ryuto, KIKUCHI Kunitomo

The Proceedings of Mechanical Engineering Congress, Japan  2017   The Japan Society of Mechanical Engineers

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<p>Thermoplastic polymer actuators have attracted attentions because of their generation force ( > 10[MPa]), low weight, low cost and reversible contraction ( >10[%]). Nylon actuators are one of the most promising thermoplastic polymer actuators. Therefore, many researchers and engineers have been researching them to apply them to a soft actuator for soft robotics. There are two kinds of Nylon actuator. One is super coiled type actuator such as over-twisted type and mandrill type. The other is sheet type. In this study, a finite element method (FEM) model with a simple structure model for super coiled type Nylon actuator is proposed as an initial stage. This model has a possibility to make it easier to physics based analysis with material properties changed. Mechanical properties of Nylon were taken into consideration for a simple helical structure. In this model, a torque and angle of twist to relax torsion of actuator were applied to a cross section of Nylon fiber to imitate actuator motion caused by heating. As a result, it was confirmed that total length of Nylon actuator contracted with the angle of twist increasing.</p>