介电型EAP驱动的转动关节研究

Research on Dielectric EAP-driven Rotational Joint

基于介电型电活性聚合物(EAP)的优点,设计、实现了该材料驱动的转动关节。根据介电型EAP的变形原理设计、制作了圆柱形驱动器,其输出最大位移约为11mm,伸长应变达到33.8%,并对输出力-位移特性进行测试。基于该型驱动器实现了转动关节,转角约为±13°,堵转力矩为19.6mN.m,将转动关节应用于爬行机器人,并对试验结果进行分析。

A rotational joint has been designed and fabricated by making use of the advantages of the dielectri electro-active polymer （EAP） material. On the basis of dielectric EAP＇s deformation＇theory,a cylindrical actuator has been designed and manufactured. The maximum displacement of 11 mm has been attained and the elongation strain of active area has been up to 33.8 %. Also, the actuator＇s output force＇ displacement characteristics have also been tested. The rotational joint driven by this type of actuator can achieve the rotation angle of about ±13°, and the torque of 19.6 mN· m. The rotational joint has been used to a crawling robot,and the experiment result has been analyzed.