カードモデルに着想を得たイオン交換樹脂シートからの3次元形状IPMCロボットの構築

抄録

Ionic-Polymer Metal Composites (IPMC), one of the representative polymer actuators, has a structure consisting of an ion-exchange membrane and metal electrodes joined together. Conventionally developed IPMC robots are usually made by cutting and pasting sheets of IPMC, which requires an assembly process and is inefficient in realizing complex structures and motions. In this study, we propose a method of constructing a three-dimensionally shaped IPMC robot like a card model by joining ion-exchange membranes using the shape memory property. We then fabricated a turtle-type robot using the proposed method.