液态金属-聚合物卷绕型热致动柔性人工肌肉  

Liquid Metal-polymer Coiled Thermally Actuated Flexible Artificial Muscle

作　　者：朱宇 张印 周青华 潘博[2] 李剑飞 蒲伟 ZHU Yu;ZHANG Yin;ZHOU Qinghua;PAN Bo;LI Jianfei;PU Wei(School of Aeronautics and Astronautics,Sichuan University,Chengdu 610065,China;Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)

机构地区：[1]四川大学空天科学与工程学院,成都610065 [2]北京空间飞行器总体设计部,北京100094

出　　处：《载人航天》2025年第1期52-59,共8页Manned Spaceflight

基　　金：国家自然科学基金项目(U22B2080)。

摘　　要：聚合物卷绕型人工肌肉是一种新型柔性驱动器,为解决传统基于电阻丝的热致动方式存在热传导效率低、热量分布不均匀等问题,提升人工肌肉刺激响应速率、输出线性度等驱动性能,提出了一种液态金属与聚合物复合卷绕的柔性人工肌肉驱动机制与设计制备方法,并开展实验测试人工肌肉的温度、收缩速率、能量密度、功率密度和机械效率等关键参数。实验结果表明:提出的液态金属-聚合物卷绕型人工肌肉空载时响应速率可达50%/s,可提升超本体质量300倍的负载,最大能量密度7.93 kJ/kg,最大功率密度4.9 kW/kg,机械效率提升至5%。Polymer coiled artificial muscle is a new type of flexible actuator.In order to solve the problems of low heat conduction efficiency and uneven heat distribution of the traditional resistance wire-based thermal actuation method,and to improve the response rate of artificial muscle stimula-tion,output linearity and other driving performance,a liquid metal and polymer-based actuator was proposed.A liquid metal and polymer composite coiled flexible artificial muscle actuation mechanism and design and preparation method were proposed.Experimental tests were conducted to measure key parameters such as temperature,contraction rate,energy density,power density,and mechanical efficiency of artificial muscles.The experimental results showed that the liquid metal-polymer coiled artificial muscle proposed in this paper had a response rate of up to 50%/s when unloaded,and could be loaded up to 300 times of its mass,with a maximum energy density of 7.93 kJ/kg,a maximum power density of 4.9 kW/kg,and a mechanical efficiency of up to 5%.

关 键 词：人工肌肉 聚合物纤维 液态金属 驱动特性 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]