Elastomer actuator and a method of making an actuator
First Claim
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1. An actuator comprising:
- a tubular portion extending in a longitudinal direction, the tubular portion comprising a body of an elastomeric material arranged between two electrodes,wherein any line of symmetry extending between two opposite points on a periphery in a cross-section perpendicular to the longitudinal direction has a length which is different from any other such line of symmetry,wherein the tubular portion is formed by rolling up a sheet comprising at least two elements each comprising a body of an elastomeric material and an electrode attached to a first surface thereof,wherein deformation of the body is restricted in a first direction and supported in a another, second, direction, wherein the sheet comprises includes;
an element of a first type comprising a conductive terminal of a first type being in electrical contact with the electrode of the elementan element of a second type comprising a conductive terminal of a second type being in electrical contact with the electrode of the element, andwherein the conductive terminal of the first type is electrically isolated from the conductive terminal of the second type when the elements are stacked.
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Abstract
A tubular elastomer actuator with a shape in a cross-sectional view which shape exposes at most one single axis of symmetry of a specific length, e.g. an oval shape. The actuator could be made from a sheet made from a plurality of plate shaped elements which are laminated together and rolled. Each plate shaped element may have a corrugation that gives the element an anisotropic structure, and contains an electrode on only one surface. The actuator displacement is the result of shrinkage displacement of the plate shaped elements upon the application of electrical field across their thickness.
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Citations
16 Claims
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1. An actuator comprising:
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a tubular portion extending in a longitudinal direction, the tubular portion comprising a body of an elastomeric material arranged between two electrodes, wherein any line of symmetry extending between two opposite points on a periphery in a cross-section perpendicular to the longitudinal direction has a length which is different from any other such line of symmetry, wherein the tubular portion is formed by rolling up a sheet comprising at least two elements each comprising a body of an elastomeric material and an electrode attached to a first surface thereof, wherein deformation of the body is restricted in a first direction and supported in a another, second, direction, wherein the sheet comprises includes; an element of a first type comprising a conductive terminal of a first type being in electrical contact with the electrode of the element an element of a second type comprising a conductive terminal of a second type being in electrical contact with the electrode of the element, and wherein the conductive terminal of the first type is electrically isolated from the conductive terminal of the second type when the elements are stacked. - View Dependent Claims (2, 3, 4, 5, 6, 7)
wherein the conductive terminals of the first type are in mutual electrical contact and the conductive terminals of the second type are in mutual electrical contact when the elements are stacked.
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6. The actuator according to claim 1, wherein the conductive terminals of the first type cover a first peripheral rim portion of the body of an elastomeric material, and the conductive terminals of the second type cover a second peripheral rim portion of the body of an elastomeric material.
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7. The actuator according to claim 1, wherein elements of the first type are arranged alternately elements of the second type.
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8. An actuator comprising:
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a tubular portion extending in a longitudinal direction, the tubular portion comprising a body of an elastomeric material arranged between two electrodes, wherein any line of symmetry extending between two opposite points on a periphery in a cross-section perpendicular to the longitudinal direction has a length which is different from any other such line of symmetry, wherein the tubular portion is formed by rolling up a sheet comprising at least two elements each comprising a body of an elastomeric material and an electrode attached to a first surface thereof, wherein deformation of the body is restricted in a first direction and supported in a another, second, direction, and wherein the tubular portion is formed by rolling of the sheet around a core of an elastomeric material.
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9. An actuator comprising:
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a tubular portion extending in a longitudinal direction, the tubular portion comprising a body of an elastomeric material arranged between two electrodes, wherein any line of symmetry extending between two opposite points on a periphery in a cross-section perpendicular to the longitudinal direction has a length which is different from any other such line of symmetry, wherein the tubular portion is filled with a core of an elastomeric material. - View Dependent Claims (10, 11)
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12. An actuator comprising:
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an elastomeric material arranged between two electrodes forming a tubular portion extending in a longitudinal direction and having a cross-section, wherein the cross-section of the tubular portion is asymmetrical; wherein the tubular portion is formed by multiple layers of elastomeric material and electrode; and wherein the tubular portion comprises elements of a first type and elements of a second type. - View Dependent Claims (13, 14, 15, 16)
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Specification