基于液态金属电极卷制态介电弹性体驱动器  

Rolling dielectric elastomer actuator based on liquid metal electrode

作　　者：赵福腾 胡华 赵维玮 ZHAO Futeng;HU Hua;ZHAO Weiwei(School of Mechanical and Electrical Engineering,Wuhan University of Technology,Wuhan 430070,China;Department of Physics and Electronic Engineering,Yuncheng University,Yuncheng 044000,China)

机构地区：[1]武汉理工大学机电工程学院,武汉430070 [2]运城学院物理与电子工程系,运城044000

出　　处：《现代制造工程》2025年第3期84-89,98,共7页Modern Manufacturing Engineering

摘　　要：由于硅橡胶材质的卷制态介电弹性体存在高频共振,在软体机器人领域得到了广泛应用。液态金属的高导电性和极低刚度可以有效保证介电弹性体的共振响应。然而,目前使用液态金属制备的卷制态介电弹性体驱动器无法实现共振现象,因此,通过搅拌液态金属和刮涂方式获得一种氧化物与液态金属共存的柔性电极。分别将采用该工艺与传统碳基电极工艺制备的弹簧耦合卷制态介电弹性体驱动器的静态和动态性能进行了对比,表明了液态金属电极卷制态介电弹性体驱动器的可靠性和低刚度特性。基于此工艺和结构制作了一款鬓毛爬行机器人,结果表明,可以实现每秒1倍身长以上的爬行速度。The rolling dielectric elastomer made of silicone rubber has been widely used in soft robot field because of its high frequency resonance.The high conductivity and very low stiffness of liquid metal can effectively guarantee the resonance response of dielectric elastomer.However,the current Rolling Dielectric Elastomer Actuator(RDEA)prepared with liquid metals cannot achieve the resonance phenomenon.It presents a method to obtain a flexible electrode with oxide and liquid metal co-existing by stirring liquid metal and scraping coating.Then,the static and dynamic properties of the Spring Rolling Dielectric Elastomer Actuator(SRDEA)prepared by the process and the traditional carbon-based electrode are compared,and the reliability and low stiffness characteristics are demonstrated.Finally,based on this process and structure,a bristle crawling robot was made,which can achieve a crawling speed of more than 1 times the body length per second.

关 键 词：液态金属 电极 介电弹性体 软体机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]