Development of large-scale stacked-type electrostatic actuators for use as artificial muscles

Electrostatic actuators have the advantages of light weight, flexibility, and high energy efficiency, which make them suitable for use as artificial muscles. However, a traditional electrostatic actuator cannot generate long strokes and a high force density at the same time because such actuator would excessively widen the gap between the electrodes because of its structure. This paper presents a newly developed large-scale stacked-type electrostatic actuator (LSEA) intended for use as an artificial muscle for robots. LSEA is a multi-stacked electrostatic actuator that can be linearly contracted by the application of a voltage. It has a unique structure that prevents overextension of the gap between the electrodes. It can therefore generate a large force. The spring characteristics and the relationship between the contractive force and the stroke were experimentally determined. The findings showed that LSEA prevents the overextension of the gap between the electrodes and has a high contraction ratio that is equivalent to that of a mammalian skeletal muscle.     

Studies on sublimation of disperse dye out of dyed polymers. I. Rate of sublimation and amorphous transition points of poly(ethylene terephthalate)

Four samples of poly(ethylene terephthalate) film of various crystallinities and orientation were dyed with p-nitroaniline and disperse dyes. When these films were heated under a 2–3 × 10^?3 mm Hg vacuum at a specified temperature T, the dye sublimed out of the dyed specimen. The amount (M_t/M_∞) of sublimed dye is in linear proportion to the square root of the sublimation time, t^½, where M_t and M_∞ are the amounts of dye sublimed for times t and t = ∞. The diffusion coefficient D, calculated from the slope of the above plot, is independent of the dye concentration of the film. When log D is plotted against 1/T°K over the temperature range 320–520°K, the relation is composed of two to four intersecting lines with the slope decreasing with elevation of temperature and with the breaks at about 89°–98°, 122°–135°, 155° and 175°–176°C. These breaks are the amorphous transitions: the first is the glass transition temperature T_g, the second and the fourth are the amorphous transitions corresponding to the crystalline transition points, i.e., the cold crystallization temperature and the smectic–triclinic transition temperature. With some exceptions, these amorphous transitions are found also by dilatometry and electrical conductivity measurements. The apparent activation energy for diffusion decreases from about 100 kcal/mole for the glass state to 22–24 kcal/mole for the region above 180°C. The activation energy for each region changes slightly with the size of dye molecule and the crystallinity and orientation of the film.     

The effects of oxygen diffusion on the surface photooxidation of polystyrene

This paper further illustrates the applicability of multiple internal reflectance infrared spectroscopy to the analysis of near-surface photooxidation. The results are compared with transmission infrared spectra to evaluate compositional gradients resulting from photooxidation and the influence of oxygen diffusion. The sample was a solvent-cast film of atactic, narrow distribution polystyrene, M_w of 100,000, that had been drawn to a ratio of 3.0 at 110°C by solid state coextrusion. Irradiation of these thin films, ～25μm thickness, was performed on exposure to air at 35°C for periods of up to 6 h using a mercury source emitting at 254 nm. On photooxidation, a board peak appears at 3200–3500 cm^?1, attributable to hydroperoxide formation. The most dramatic increase in the infrared spectra is found for a carbonyl band at 1730 cm^?1. It appears to result from an aromatic acid group since it is shifted to 1660 cm^?1 on immersion of the oxidized polystyrene films in aqueous ammonium hydroxide. It is confirmed that the photooxidation of polystyrene occurs preferentially at the surface and that this reaction rate is greatly reduced in the drawn polystyrene film.     

Poly(p-tert-butoxycarbonyloxystyrene): a convenient precursor to p-hydroxystyrene resins

An efficient synthetic route to pure, high molecular weight poly(p-hydroxystyrene) is reported. The route involves synthesis of a new monomer, p-tert-butoxycarbonyloxystyrene, polymerization by radical initiation or by cationic initiation in liquid SO₂, followed by thermolysis or acidolysis of the tert-butoxycarbonyl protecting group. Porous, crosslinked resin beads containing the nucleophilic, phenol pendant group have been prepared in a similar fashion from the precursor terpolymer of p-tert-butoxycarbonyloxystyrene, styrene and divinylbenzene. The utility of this resin for solid-phase synthesis has been demonstrated.     

Change of the amorphous state by heat treatment below the glass transition temperature

This study was undertaken to elucidate the state of a polymer in the amorphous state through a change of motion of the molecular chain caused by heat treatment below the glass transition temperature. From dielectric measurements of amorphous poly(ethylene terephthalate) heat-treated below T_g, it was found that the average relaxation time, the distribution of relaxation time and the dielectric strength increase with increase of heat treatment. From these results, it was concluded that the amorphous state becomes more random by heat treatment.     

Compressibility of the polymer crystal

Results for the compressibilities of a wide range of polymer crystals along the fibre- and the transverse crystal axes are presented. Good agreement is found between the theoretical and the experimental results of different authors.     

The reaction of polypropylene with maleic anhydride

An addition reaction of maleic anhydride with polypropylene takes place in the presence of radical reagents or sunlight. The initial rate of the reaction was proportional to the concentration of polypropylene and maleic anhydride, and one-half power of the concentration of the radical reagents. The increase in the temperature from 80 to 120°C increased the rate of the reaction and di-cumyl peroxide was effective as a radical reagent for this reaction. Ionic crosslinked rubber-like polymers were obtained from the reaction of maleic polypropylene with some alkali metal compounds. They showed the characteristic absorption band due to ? COO^? in their infrared spectra.     

Polymerization of methyl methacrylate by tri-n-butylborane in the presence of amino acid esters

The polymerization of methyl methacrylate by tri-n-butylborane in the presence of amino acid esters was investigated. The binary systems of tri-n-butylborane and amino esters were found to be more effective for initiating the polymerization than tri-n-butylborane alone. Co-catalytic effects of amino acid esters were in the order: tyrosinate > glutamate > aspartate ? phenyl alaninate > serinate > glycinate. The rate of polymerization in a mixture of dimethylsulphoxide and toluene was proportional to the square root of the concentration of the initiator system, to the monomer concentration, and to the concentration of dimethylsulphoxide in the solvent. The overall energy of activation was estimated to be 4.6 kcal/mol for the tri-n-butylborane/methyl tyrosinate system. Copolymerization curves gave a typical free-radical character.     

The effect of sputter etching on the surface characteristics of dyed aramid fabrics

Three kinds of aramid fabrics, Technora (modified p-aramid), Conex (m-aramid) and Kevlar (p-aramid), were subjected to sputter etching and argon low-temperature plasma treatments after dyeing in black with disperse dyes. The depth of shade increased considerably on Technora and Kevlar with the sputter etching treatment, but not on Conex fabrics. Argon low-temperature plasma treatment had virtually no effect on the depth of shade on the aramid fabrics.     

Upper and lower critical solution temperatures in poly (ethylene glycol) solutions

Upper and lower critical solution temperatures have been determined for solutions of poly(ethylene glycol) in t-butyl acetate and water over the molecular weight range of M_η = 2.18 × 10³ to ～1020 × 10³. The phase diagram for solutions of poly(ethylene glycol) (M_η = 719 × 10³) in t-butyl acetate was expressed as the ‘hour glass’ type, while the phase diagram for solution of poly(ethylene glycol) (M_η = 2.18 × 10³ to ～2.29 × 10³) in water was expressed as the ‘closed loop’ type. The value of the pressure dependence of the lower critical solution temperature $\text{(}\text{d}\text{T}\text{d}\text{P}\text{)}{}_{\mathrm{c}}$ in the poly(ethylene glycol) (M_η = 1020 × 10³)/water system over the pressure range of 0 to ～50 atm was negligibly small and positive.