REPULSIVE-ATTRACTIVE-FORCE ELECTROSTATIC ACTUATOR

• US 20190312528A1
• Filed: 04/08/2019
• Published: 10/10/2019
• Est. Priority Date: 04/06/2018
• Status: Active Grant

• Current Assignee: Regents of the University of California (University of California)
• Original Assignee: Regents of the University of California (University of California)
• Inventors: Schaler, Ethan Weber, Fearing, Ronald S.
• Granted Patent: US 10,951,133 B2
• Time in Patent Office: Days
• CPC Class Codes: B32B 2457/00 Electrical equipment
• CPC Class Codes: B81B 2201/032 Bimorph and unimorph actuators, e.g. piezo and thermo
• CPC Class Codes: B81B 2203/04 Electrodes
• CPC Class Codes: B81B 3/0035 Constitution or structural means for controlling the movement of the flexible or deformable elements
• CPC Class Codes: H02N 1/002 Electrostatic motors
• CPC Class Codes: H02N 1/006 of the gap-closing type H02N1/004 takes precedence

Abstract

A repulsive-attractive-force electrostatic actuator according to some embodiments of the invention includes a first actuator layer including a first substrate, a first electrode pattern, and a second electrode pattern. The actuator further includes a second actuator layer including a second substrate, a third electrode pattern, and a fourth electrode pattern. The actuator further includes a first voltage source connected to the first and second electrode patterns such that the first electrode pattern is at a relative voltage of V1 to the second electrode pattern, and a second voltage source connected to the third and fourth electrode patterns such that the third electrode pattern is at a relative voltage of V2 to the fourth electrode pattern. The applied relative voltages V1 and V2 are selectable to provide one of a selected repulsive force or a selected attractive force between the first and second actuator layers.

Claims

1. A repulsive-attractive-force electrostatic actuator, comprising:

a first actuator layer comprising;

a first substrate of a first dielectric material having a transverse thickness and two opposing surfaces,

a first electrode pattern at least one of attached to or formed on one of said two opposing surfaces of said first substrate, and

a second electrode pattern at least one of attached to or formed on the other one of said two opposing surfaces of said first substrate so as to be on an opposing side with respect to said first electrode pattern, and

wherein said first and second electrode patterns are substantially aligned with each other in a direction of said transverse thickness on said two opposing surfaces of said first substrate;

a second actuator layer spaced apart from said first actuator layer in the direction of the transverse thickness, with at least one of a vacuum, air, a gas or a dielectric material therebetween, said second actuator layer comprising;

a second substrate of a second dielectric material having a transverse thickness and two opposing surfaces,

a third electrode pattern at least one of attached to or formed on one of said two opposing surfaces of said second substrate, and

a fourth electrode pattern at least one of attached to or formed on the other one of said two opposing surfaces of said second substrate so as to be on an opposing side with respect to said third electrode pattern, and

wherein said third and fourth electrode patterns are substantially aligned with each other in a direction of said transverse thickness on said two opposing surfaces of said second substrate;

a first voltage source connected to said first and second electrode patterns such that, during operation, each is entirely at a common voltage across the corresponding electrode pattern, said first electrode pattern is at a relative voltage of V₁ to said second electrode pattern;

a second voltage source connected to said third and fourth electrode patterns such that, during operation, each is entirely at a common voltage across the corresponding electrode pattern, said third electrode pattern is at a relative voltage of V₂ to said fourth electrode pattern; and

an actuator frame connected to said first and second actuator layers such that at least a portion of at least one of said first and second actuator layers is movable due to an applied voltage to effect motion to an object at least one of attached to or in mechanical connection to said repulsive-attractive-force electrostatic actuator when in operation,

wherein said first and second voltage sources have a common ground, and

wherein said applied relative voltages V₁ and V₂ are selectable to provide one of a selected repulsive force or a selected attractive force between said first and second actuator layers.

2. The repulsive-attractive-force electrostatic actuator according to claim 1, wherein said first and second substrates are each at least one of a thin film or a sheet of a first dielectric material and a second dielectric material, respectively.

3. The repulsive-attractive-force electrostatic actuator according to claim 1, wherein said first and second dielectric materials are each selected from at least one of a polyimide or biaxially-oriented polyethylene terephthalate.

4. The repulsive-attractive-force electrostatic actuator according to claim 1, wherein said first and second dielectric materials are the same dielectric material.

5. The repulsive-attractive-force electrostatic actuator according to claim 1, wherein said first and second dielectric materials are each selected from at least one of a high dielectric strength polymer or polymer composite.

6. The repulsive-attractive-force electrostatic actuator according to claim 1, wherein said first and second dielectric materials comprise at least one of polypropylene, polyethylene, polyimide, polytetrafluorethylene, glass fiber epoxy composite, cellulose, SiO₂, Si₃N₄, mica, or ultra-thin glass.

7. The repulsive-attractive-force electrostatic actuator according to claim 4, wherein said first and second dielectric materials are both poly (4,4′

-oxydiphenylene-pyromellitimide).

8. The repulsive-attractive-force electrostatic actuator according to claim 1, wherein said first, second, third, and fourth electrode patterns comprise conductive materials each selected from at least one of a metal, metal alloy, metallic glass, metallic nanowires, ceramic, polymer, epoxy, paste, ink, carbon nanotubes, or other organic compound.

9. The repulsive-attractive-force electrostatic actuator according to claim 1, wherein said actuator frame is connected to said first and second actuator layers such that one edge thereof is held relatively fixed and an opposite edge is free to move with a cantilever motion.

10. The repulsive-attractive-force electrostatic actuator according to claim 1, wherein said actuator frame is connected to said first and second actuator layers such that at least one of said first and second actuator layers moves in a direction substantially orthogonal to said two opposing surfaces of said first and second substrates to provide substantially translational motion in operation while said first and second substrates remain substantially parallel to each other.

11. The repulsive-attractive-force electrostatic actuator according to claim 1, further comprising a spring connected to said first and second actuator layers to provide a restoring force in addition to the selected attractive force.

12. The repulsive-attractive-force electrostatic actuator according to claim 1, further comprising a spacer connected to one of said first and second actuator layers, said spacer defining a minimum spacing between said first and second actuator layers.

13. The repulsive-attractive-force electrostatic actuator according to claim 1, wherein a fifth electrode pattern is attached to said first substrate and a sixth electrode pattern is attached to said second substrate, and

wherein a capacitance measured between said fifth and sixth electrode provides a measure of relative displacement between said first and second substrates.

14. The repulsive-attractive-force electrostatic actuator according to claim 1, wherein said first and second voltage sources are high-voltage sources each capable of providing a voltage of at least 1 kV.

15. The repulsive-attractive-force electrostatic actuator according to claim 1, wherein said first and second voltage sources are high-voltage sources each capable of providing a voltage of between 1 kV to 5 kV.

16. The repulsive-attractive-force electrostatic actuator according to claim 1, further comprising:

a third actuator layer spaced apart from said first and second actuator layers with at least one of a vacuum, air, a gas or a dielectric material therebetween, said third actuator layer comprising;

a third substrate of a third dielectric material having a transverse thickness and two opposing surfaces,

a fifth electrode pattern at least one of attached to or formed on one of said two opposing surfaces of said third substrate, and

a sixth electrode pattern at least one of attached to or formed on the other one of said two opposing surfaces of said third substrate so as to be on an opposing side with respect to said fifth electrode pattern, and

wherein said fifth and sixth electrode patterns are substantially aligned with each other in a direction of said transverse thickness on said two opposing surfaces of said third substrate; and

a third voltage source connected to said fifth and sixth electrode patterns such that, during operation, each is entirely at a common voltage across the corresponding electrode pattern, said fifth electrode pattern is at an opposite voltage relative to said sixth electrode pattern having a relative voltage of V₃;

wherein said first, second and third voltage sources have a common ground, and

wherein said applied relative voltages V₁, V₂ and V₃ are selectable to provide one of a selected repulsive force or a selected attractive force between adjacent pairs of said first, second and third actuator layers.

17. A steerable optical component, comprising:

an optical component attached to an assembly which allows motion in at least one degree of freedom; and

the repulsive-attractive-force electrostatic actuator according to claim 1 arranged in mechanical connection with said optical component.

18. A surface coating comprising a plurality of repulsive-attractive-force electrostatic actuators according to claim 1 arranged in an array to control interaction of at least one of a fluid or electromagnetic radiation interactions with a surface coated therewith.

19. A robotic device comprising a plurality of repulsive-attractive-force electrostatic actuators according to claim 1 arranged to effect motion of said robotic device.

20. A biological cell growth device comprising a plurality of repulsive-attractive-force electrostatic actuators according to claim 1 arranged to effect motion of biological cells being grown or maintain therein.

21. A multi-substrate repulsive-attractive-force electrostatic actuator, comprising:

a first actuator layer comprising;

a first substrate of a first dielectric material having a transverse thickness and two opposing surfaces,

a first electrode pattern at least one of attached to or formed on one of said two opposing surfaces of said first substrate, and

a second electrode pattern at least one of attached to or formed on the other one of said two opposing surfaces of said first substrate so as to be on an opposing side with respect to said first electrode pattern,

wherein said first and second electrode patterns are substantially aligned with each other in a direction of said transverse thickness on said two opposing surfaces of said first substrate,

a second substrate of a second dielectric material having a transverse thickness and two opposing surfaces, at least one of attached to or formed on the other one of said two opposing surfaces of said second electrode pattern so as to be on an opposing side with respect to said first substrate, and

a third electrode pattern at least one of attached to or formed on the other one of said two opposing surfaces of said second substrate so as to be on an opposing side with respect to said second electrode pattern,

a first voltage source connected to said first and second electrode patterns such that, during operation, each is entirely at a common voltage across the corresponding electrode pattern, said first electrode pattern is at a relative voltage of V₁ to said second electrode pattern, and

a second voltage source connected to said second and third electrode patterns such that, during operation, each is entirely at a common voltage across the corresponding electrode pattern, said second electrode pattern is at a relative voltage of V₂ to said third electrode pattern;

a second actuator layer spaced apart from said first actuator layer with at least one of a vacuum, air, a gas or a dielectric material therebetween, said second actuator layer comprising;

a third substrate of a third dielectric material having a transverse thickness and two opposing surfaces,

a fourth electrode pattern at least one of attached to or formed on one of said two opposing surfaces of said third substrate,

a fifth electrode pattern at least one of attached to or formed on the other one of said two opposing surfaces of said third substrate so as to be on an opposing side with respect to said fourth electrode pattern,

wherein said fourth and fifth electrode patterns are substantially aligned with each other in a direction of said transverse thickness on said two opposing surfaces of said third substrate,

a fourth substrate of a fourth dielectric material having a transverse thickness and two opposing surfaces, at least one of attached to or formed on the other one of said two opposing surfaces of said fifth electrode pattern so as to be on an opposing side with respect to said third substrate, and

a sixth electrode pattern at least one of attached to or formed on the other one of said two opposing surfaces of said fourth substrate so as to be on an opposing side with respect to said fifth electrode pattern;

a third voltage source connected to said fourth and fifth electrode patterns such that, during operation, each is entirely at a common voltage across the corresponding electrode pattern, said fourth electrode pattern is at a relative voltage of V₃ to said fifth electrode pattern;

a fourth voltage source connected to said fifth and sixth electrode patterns such that, during operation, each is entirely at a common voltage across the corresponding electrode pattern, said fifth electrode pattern is at a relative voltage of V₄ to said sixth electrode pattern;

wherein said applied relative voltages V₁, V₂, V₃, and V₄ are selectable to provide one of a selected repulsive force or a selected attractive force between said first and second actuator layers.

22. The multi-substrate repulsive-attractive-force electrostatic actuator according to claim 21, further comprising:

a third actuator layer spaced apart from said second actuator layer with at least one of a vacuum, air, a gas or a dielectric material therebetween, said third actuator layer comprising;

a fifth substrate of a fifth dielectric material having a transverse thickness and two opposing surfaces,

a seventh electrode pattern at least one of attached to or formed on one of said two opposing surfaces of said fifth substrate,

an eighth electrode pattern at least one of attached to or formed on the other one of said two opposing surfaces of said fifth substrate so as to be on an opposing side with respect to said seventh electrode pattern,

wherein said seventh and eighth electrode patterns are substantially aligned with each other in a direction of said transverse thickness on said two opposing surfaces of said fifth substrate,

a sixth substrate of a sixth dielectric material having a transverse thickness and two opposing surfaces, at least one of attached to or formed on the other one of said two opposing surfaces of said eighth electrode pattern so as to be on an opposing side with respect to said fifth substrate, and

a ninth electrode pattern at least one of attached to or formed on the other one of said two opposing surfaces of said sixth substrate so as to be on an opposing side with respect to said eighth electrode pattern;

a fifth voltage source connected to said seventh and eighth electrode patterns such that, during operation, each is entirely at a common voltage across the corresponding electrode pattern, said seventh electrode pattern is at a relative voltage of V₅ to said eighth electrode pattern; and

a sixth voltage source connected to said eighth and ninth electrode patterns such that, during operation, each is entirely at a common voltage across the corresponding electrode pattern, said eighth electrode pattern is at a relative voltage of V₆ to said ninth electrode pattern,

wherein said applied relative voltages V₁, V₂, V₃, V₄, V₅ and V₆ are selectable to provide one of a selected repulsive force or a selected attractive force between said first and second actuator layers and between said second and third actuator layers.