基于EAP驱动器的并联式管道机器人机构设计  

A Parallel Pipeline Robot Mechanism Designed by Using EAP Actuators

作　　者：韩福峰[1] 王彦[1] 刘立宏[1] 杭鲁滨[1] 

机构地区：[1]上海交通大学,上海200030

出　　处：《机械科学与技术》2006年第2期214-216,232,共4页Mechanical Science and Technology for Aerospace Engineering

摘　　要：电活性聚合物是一类较新的聚合物,其高效的电能和机械能转换特性可用于驱动器的开发。本文介绍EAP材料作为驱动器的机理以及EAP移动、转动驱动器的设计,并与其他功能材料的驱动特性进行了比较;提出了一种基于EAP驱动器的并联式管道机器人机构,对其管道内行走运动进行了规划;该机器人具有较强的非结构环境适应性。Electro-active polymer（ EAP）, a relatively new type of polymer, is a kind of potential actuator material because of its highly effective energy conversion between electrical and mechanical modes. The paper introduce the principles of EAP as an actuator and compares EAP and other functional materials in terms of their properties. Moreover it presents the design and planning of an EAP-actuated parallel pipeline robot mechanism which has a considerable adaptability to non-structured environments.

关 键 词：EAP驱动器 并联机器人 管道机器人 

分 类 号：TB34[一般工业技术—材料科学与工程]