弯曲型介电型电活性聚合物驱动器的建模研究  

Study on the Modelling of the Bending Dielectric Electroactive Polymer Actuator

作　　者：黄青云[1] 王化明[1] 朱银龙[2] 杨位东 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]南京林业大学机械电子工程学院,江苏南京210037

出　　处：《压电与声光》2016年第1期19-23,共5页Piezoelectrics & Acoustooptics

基　　金：国家自然科学基金资助项目(51305209);江苏省自然科学基金资助项目(BK20130979;BK2011735);中国博士后科学基金资助项目(2013M541678)

摘　　要：介电型电活性聚合物(DEAP)由于其大应变,高效率及高能量密度等优点,在仿生机器人领域具有广泛的应用前景。该文设计制作了一种可实现弯曲变形的DEAP驱动器,根据弹性大变形理论建立驱动器的机电耦合模型,通过微分方程组的迭代求解获得激励电压与输出角度、侧向输出力之间的关系。试验结果表明,在5kV电压下,该驱动器可产生最大75°的弯曲角度,最大侧向输出力达到0.7N。试验结果与理论结果较吻合,验证了驱动器设计与分析的有效性。以该驱动器为驱动单元,构建了一种仿生爬行机器人,初步试验表明了该类型驱动应用于仿生机器人的可行性,可为仿生机器人摆动驱动提供一种新的实现方法。The dielectric electroactive polymers（DEAP）have shown great promise in the field of biomimetric robotics due to their outstanding abilities such as large deformation,high efficiency and energy density.A bending DEAP actuator was designed and implemented.According to the theory of large elastic deformation,an electromechanical coupling model of the actuator was establised in this paper.By solving the differential equations,the relationship between the bending angle and lateral force have been obtained.The experimental results show that the actuator can bend with an angle of 75°and the maximum lateral force reaches to 0.7Nat 5kV.The predictions of the actuator behavior agree well with the experimental results.Based on this actuator,a crawling robot was developed and preliminary experiment has proved the feasibility of the acutation in biomimetic robots.This work presents a novel actuation technology for the bionic robot.

关 键 词：介电型电活性聚合物 弯曲型驱动器 机电耦合模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]