介电弹性材料驱动器在机器人中的应用进展

Application progress of dielectric elastomer actuators in robots

简要介绍介电弹性材料驱动器的基本原理、结构组成及其在机器人中的应用现状,重点分析介电弹性材料性能的理论研究进展,包括材料特性、本构理论、失效模式及稳定性等.总结介电弹性材料驱动器对柔性电极性能的要求,并对柔性电极工艺特性进行具体分析,深入探讨介电弹性驱动器目前所面临的挑战,对介电弹性材料驱动器在机器人系统中的应用前景进行了展望.

The fundamental principle and the structure of dielectric elastomer actuators, together with their applications in robotic systems were reviewed briefly, and the special stress was mainly laid on analyzing the progress in theoretical investigations on the properties of dielectric elastomer, including material characteristics, constitutive theory, failure mode and stability, etc. The actuator＇ s specific requirements and the technique characteristics of the flexible electrodes were also summarized in detail. The application of dielectric elastomer actuators in robotic system was prospected on the basis of a profound discussion of the challenges that the dielectric elastomer actuators still have now.