基于电流变液体准电致伸缩效应的柔性微致动器

Electrostriction Effect of Electro Rheological Fluid and Its Application in Flexible Micro Actuator

在电流变液体准电致伸缩实验研究的基础上，提出了电流变柔性微致动原理，并建立了相应的柔性微致动器的力学模型，得出了电场强度与微致动器变形参数的关系。

Micro actuators are increasingly employed in micro robots. Electro rheological fluid (ERF) is a smart material just beginning to be used in micro actuators. But the electrostriction effect (the change in volume under action of electric field) of ERF has not yet been utilized in micro actuators. We conducted experiments on the electrostriction effect of ERF and found this effect to be as large as 10%. Using this effect, we established new design principles of flexible micro actuation, which changes the difficult to implement dynamic method (involving fluid motion) to an easily implemented static method (involving only volume change). Then we established the 3 chamber machanical model for the flexible actuator as shown in Fig.3. This model can allow the actuator to deform in any direction in space. We derived eqs.(4),(7) and (8) as the relationships between electric field intensity and deformation parameters of flexible micro actuator. In Table 2, the bending angle can be as large as 16.97°