介电型EAP线性和弯曲驱动器研究

Research on Linear and Bending Roll Dielectric Electroactive Polymer Actuators

基于介电型EAP(dielectric electroactive polymer,电活性聚合物)较好的综合性能,研究了卷绕式线性和弯曲驱动器。分析了线性驱动器的结构,进行了单(两)自由度弯曲驱动器的电极形式设计,构建了双轴拉伸机构和卷绕平台用于驱动器制作。试验表明:线性和弯曲驱动器能产生线性伸长和单(两)自由度连续弯曲,其中线性伸长率超过30%,弯曲角度可达90°(32°),并测试了驱动器的输出力。卷绕式驱动器结构紧凑,运动范围大,能产生类似于生物体的柔性运动,在仿生空中或地面机器人等领域具有广泛应用前景。

Based on the good overall performance of dielectric electroactive polymer （EAP）, roll linear and bending actuators were investigated. Based on the structural analysis on the linear actuator, the electrode patterns for 1-DoF and 2-DoF bending actuators were designed, and a biaxial and rolling device were constructed for acuator manufacturing. Experiments showed linear and bending actuators can exibit elongation and 1 DoF （2 DoF） continous bending, where the elongation ratio is over 30% and the bending angles are up to 90~ （1-DoF） and 32~ （2-DoF）. Also, the force output of actuators are measured. With their compact structure and large range of motion, roll actuators can produce flexible locomotion similar to biological animals and have a wide application prospect in biomimetic aerial and ground robots.