叠层式介电弹性体人工肌肉驱动器:设计、制备与柔性驱动应用  

Use of a multilayered dielectric elastomer actuator as a high-performance artificial muscle:Design,fabrication,and applications

作　　者：马文涛 王海天[1,2] 孙文杰 汤超 曹崇景 高兴 刘磊 李博 陈贵敏[1,2] MA WenTao;WANG HaiTian;SUN WenJjie;TANG Chao;CAO ChongJing;GAO Xing;LIU Lei;LI Bo;CHEN GuiMin(School of Mechanical Engineering,Xi'an Jiaotong University,Xi'an 710049,China;Shaanxi Key Laboratory of Inelligent Robot Xi'an Jiaotong Universiny Xi'an 710049,China;Schoolof Mechanical and Precision Instrument Enginering,Xi'an University of Technology,Xi'an 70048,China;College of Engineering,Ocean University of China,Qingdao 266100,China;Shenzhen Instinuie of Advanced Technology Chinese Academyof Seiences,Shenzhen S1855,China;Schoolof Mechanical and Electrical Enginering,Northwestern Polyechnical University,Xi'an,0072,China)

机构地区：[1]西安交通大学机械工程学院,西安710049 [2]西安交通大学陕西省智能机器人重点实验室,西安710049 [3]西安理工大学机械与精密仪器工程学院,西安710048 [4]中国海洋大学工程学院,青岛266100 [5]中国科学院深圳先进技术研究院,深圳518055 [6]西北工业大学机电工程学院,西安710072

出　　处：《中国科学：物理学、力学、天文学》2024年第6期15-42,共28页Scientia Sinica Physica,Mechanica & Astronomica

基　　金：国家自然科学基金(编号:52075411,11902248);山东省泰山学者工程专项经费(编号:tsqn202306116)资助项目。

摘　　要：介电弹性体驱动器(Dielectric Elastomer Actuator, DEA)具有可与自然肌肉相媲美的优异驱动特性,近些年成为了柔性驱动领域的研究热点之一.鉴于单层DEA存在输出力小、易失稳、结构刚度低,需要预拉伸维持的问题,叠层式介电弹性体驱动器(Multi-Layered Dielectric Elastomer Actuator, MDEA)应运而生.本文归纳了现有的MDEA材料的特性,总结了叠层结构的设计与制备方法,并对其性能进行了比较和分析;介绍了多种适用于MDEA的柔性电极以及对应图案化制备方法;最后对MDEA在柔性器件以及机器人驱动中的应用进行介绍.随着技术的发展,高性能的MDEA势必成为人工肌肉的重要组成部分,并将支撑软体机器人领域的进一步发展.A dielectric elastomer actuator(DEA)has excellent actuation characteristics comparable to those of a natural muscle.This characteristic has become a hot topic in the field of soft actuators in recent years.A multilayered DEA(MDEA)is an emerging new solution to overcome the drawbacks of low output force,easy instability,poor structural stiffness,and the need for pre-stretch maintenance in a single-layer DEA.This paper introduces the characteristics of various MDEA materials,summarizes the existing design and preparation methods for laminated structures,and compares and analyzes their performance.In addition,this paper summarizes multiple flexible electrodes suitable for MDEA and the corresponding patterning preparation methods,and finally discusses the application of MDEA in many flexible devices and robots.With technological developments,high-performance MDEA can play a critical role as artificial muscles and support the further development of flexible systems,especially in the field of soft robots.

关 键 词：叠层式介电弹性体 人工肌肉 软体机器人 增材制造 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]