公开(公告)号：US20130264972A1

公开(公告)日：2013-10-10

申请号：US13993949

申请日：2011-10-28

申请人： Minoru Hashimoto ,  Minami Shibagaki

发明人： Minoru Hashimoto ,  Minami Shibagaki

IPC分类号： H02N2/06 ,  B25J9/10

CPC分类号： H02N2/06 ,  B25J9/1095 ,  H01L41/0835 ,  H01L41/193 ,  H02N2/062

摘要： A method for controlling a displacement in the thickness direction of the contraction-type gel actuator having an effect of contraction in the thickness direction by applying a voltage between an anode and a cathode between which a gel which includes a dielectric polymeric material is interposed, which includes performing feedback control of an applied voltage, with a sampled value of a displacement when the applied voltage acts on the contraction-type gel actuator, according to the following equation (1): E=kp(xd−x)+Ed  (1) In the equation, xd represents a target displacement of the contraction-type gel actuator; Ed represents an applied voltage with respect to the target displacement xd obtained by the linear approximation of the applied voltage and the displacement from a measured result of the displacement in accordance with the applied voltage of the contraction-type gel actuator; and kp represents a proportional gain.

摘要翻译： 通过在阳极和阴极之间施加电压来控制具有厚度方向收缩效果的收缩型凝胶致动器的厚度方向上的位移的方法，在该阳极和阴极之间插入包含电介质聚合物材料的凝胶， 根据以下等式（1），当所施加的电压作用在收缩型凝胶致动器时，执行施加的电压的反馈控制与位移的采样值：E = kp（xd-x）+ Ed ）在等式中，xd表示收缩型凝胶致动器的目标位移; Ed表示相对于根据施加电压的线性近似获得的目标位移xd的施加电压和根据收缩型凝胶致动器的施加电压的位移的测量结果的位移; kp表示比例增益。

公开(公告)号：US09118262B2

公开(公告)日：2015-08-25

申请号：US13993949

申请日：2011-10-28

申请人： Minoru Hashimoto ,  Minami Shibagaki

发明人： Minoru Hashimoto ,  Minami Shibagaki

IPC分类号： H02N2/06 ,  B25J9/10 ,  H01L41/193

CPC分类号： H02N2/06 ,  B25J9/1095 ,  H01L41/0835 ,  H01L41/193 ,  H02N2/062

摘要： A method for controlling a displacement in the thickness direction of the contraction-type gel actuator having an effect of contraction in the thickness direction by applying a voltage between an anode and a cathode between which a gel which includes a dielectric polymeric material is interposed, which includes performing feedback control of an applied voltage, with a sampled value of a displacement when the applied voltage acts on the contraction-type gel actuator, according to the following equation (1): E=kp(xd−x)+Ed  (1) In the equation, xd represents a target displacement of the contraction-type gel actuator; Ed represents an applied voltage with respect to the target displacement xd obtained by the linear approximation of the applied voltage and the displacement from a measured result of the displacement in accordance with the applied voltage of the contraction-type gel actuator; and kp represents a proportional gain.

摘要翻译： 通过在阳极和阴极之间施加电压来控制具有厚度方向收缩效果的收缩型凝胶致动器的厚度方向上的位移的方法，在该阳极和阴极之间插入包含电介质聚合物材料的凝胶， 根据以下等式（1），当所施加的电压作用在收缩型凝胶致动器时，执行施加的电压的反馈控制与位移的采样值：E = kp（xd-x）+ Ed ）在等式中，xd表示收缩型凝胶致动器的目标位移; Ed表示相对于根据施加电压的线性近似获得的目标位移xd的施加电压和根据收缩型凝胶致动器的施加电压的位移的测量结果的位移; kp表示比例增益。