基于电共轭液的人工肌肉及微手指研究

Study of the Artificial Muscle and Micro-Finger Based on the Electro-Conjugate Fluid

总结了几种传统人工肌肉的工作原理、特点及其在机器人驱动中的应用现状,分析了面向机器人驱动的传统人工肌肉技术的不足。在描述电共轭液的性能特性基础上,指出基于电共轭液的人工肌肉及微手指不仅在电能到机械能的转化过程中表现出显著的能量转换效率和高灵敏度等性能优点,而且与天然肌肉的驱动原理极其相似,在智能化的机器人驱动方面更具发展潜力。在此基础上,回顾了基于电共轭液的人工肌肉和微手指的研究进展,提出材料研究、作用机理和驱动电压低压化是基于电共轭液的仿生器件研究亟需解决的问题,以及未来的发展趋势及应用前景。

The working mechanism, characteristics and current situations used in robot-driven areas for several kinds of traditional artificial muscle technologies were summarized, and their shortcomings in robot-driven areas were analyzed. Based on the description of the performance characteristics of the electric-conjugate fluid, the electro-conjugate fluid artificial muscle and mi- cro-finger have high transmission efficiency from the electric energy to the mechanical energy, high sensitivity, and high similarity with the driving principle of the natural muscle. The huge potential is shown in the driving of intelligent robots. The research progresses of the artificial muscles and micro-finger based on the electric-conjugate fluid are reviewed, and the problems of the bionic device research based on the electric-conjugate fluid are presented, such as the material research, action mechanism and low driving voltage, as well as the trends and application pros- pects in the future are proposed.