HEPDF柔性仿生肌肉设计、制备与性能

Design,Preparation and Performance of HEPDF Flexible Bionic Muscle

选择超弹体聚丙烯酸酯类介电薄膜(HEPDF)材料作为抓握机构的驱动仿生肌肉,通过预拉伸工艺制备仿生薄膜,提高电致变形性能,实现力电耦合抓取功能。通过单轴拉伸试验,获取不同应变速率下HEPDF薄膜的应力-应变曲线,拟合得到超弹薄膜的OGDEN本构模型参数,得到最优应变速率为0.094 s^(-1),通过搭建的电致变形试验平台,测试HEPDF薄膜力电耦合性能,结果表明原始薄膜的面积变化率不足5%,单轴拉伸的HEPDF薄膜的电致形变面积在20%以内,而双轴拉伸的电致变形面积可300%以上,拉伸比λ=4时的预拉伸HEPDF具有最优的电致变形性能,驱动电压可以降到4.3 kV,可以作为柔性抓手的驱动器仿生肌肉材料使用。

Hyperelastic polyacrylate dielectric film(HEPDF)were chosen as the bionic muscle of the grasping mechanism s actuators.The film were pre-stretched in order to improve the electrodeformation performance and to realize the mechanical-electrical coupling grasping function.The stress strain curves were obtained at different tensile rates through a uniaxial stretching test.Through curves fitting,the OGDEN constitutive model parameter of the superelastic film were obtained,and the optimal tensile rate was 0.094 s^(-1).The mechanical-electric coupling performance of the HEPDF film was tested through an electrodeformation test platform.The test shows that the area change rate of the original film is less than 5%,the electrodeformation area of the uniaxially stretched HEPDF film is in 20%,and the electrodeformation area of biaxial stretching is over 300%.Furthermore,when the stretch ratioλis 4,the pre-stretched HEPDF has the best electrodeformation performance,and the driving voltage could decrease to 4.3 kV.Therefore,it may be used as the bionic muscle of compliant grippers actuators.