堆栈式DE作动器的流延工艺及其性能研究
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摘要
随着机器人技术的发展,能与自然交互、自主适应复杂动态环境并协同作业的共融机器人在高端制造、医疗康复、国防安全等领域将会发挥巨大的作用。在共融机器人运动执行机构的研究中,基于介电弹性体(DE)的作动器表现出很好的环境适应性和机电性能。为了进一步研究介电弹性体作动器,将弹性体电极引入介电弹性体作动器中,通过流延工艺逐层堆积电极层和作动器层,实现了多层DE作动器的一体化制造。在光学显微镜下观察到,基于该工艺制备而成的堆栈式DE作动器各层的厚度一致性好,且与设计尺寸间的误差较小。作动器在静态电压及动态扫频电压下的响应结果显示,该工艺制备而成的作动器具有较好的变形性能,且变形性能一致性较好。经过一年的使用后,作动器的性能衰减不明显,该作动器的这一特点适用于机器人等需要长期服役装备的使用需求。
With the development of robot technology, robots can adapt to the complex environment which will play a great role in high-end manufacturing, medical rehabilitation, defence and security, and other fields. In the study of robots' movement mechanism,actuators based on dielectric elastomers material showed a good environmental adaptability and good electromechanical properties. A novel fabrication process of stacked dielectric elastomer actuator(SDEA) is developed based on casting process and elastomeric electrode. The casting process ensures the consistency of every layers' thickness in SDEA. The static and dynamic test results indicates that so-fabricated SDEA benefits the advantages of homogenous properties as well as little performance degradation after one-year use.
With the development of robot technology, robots can adapt to the complex environment which will play a great role in high-end manufacturing, medical rehabilitation, defence and security, and other fields. In the study of robots' movement mechanism,actuators based on dielectric elastomers material showed a good environmental adaptability and good electromechanical properties. A novel fabrication process of stacked dielectric elastomer actuator(SDEA) is developed based on casting process and elastomeric electrode. The casting process ensures the consistency of every layers' thickness in SDEA. The static and dynamic test results indicates that so-fabricated SDEA benefits the advantages of homogenous properties as well as little performance degradation after one-year use.
引文
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[2]CARPI F,BAUER S.Stretching dielectric elastomer performance[J].Science,2010,330(6012):1759-1761.
[3]BROCHU P,PEI Q.Advances in dielectric elastomers for actuators and artificial muscles[J].Macromolecular rapid communications,2010,31(1):10-36.
[4]SUO Z.Theory of dielectric elastomers[J].Acta Mechanica Solida Sinica,2010,23(6):549-578.
[5]ANDERSON I,GISBY T,MCKAY T,et al.Multi-functional dielectric elastomer artificial muscles for soft and smart machines[J].Journal of Applied Physics,2010,112(4):041101-041101-041120.
[6]LIU Y,LIU L,ZHANG Z,et al.Dielectric elastomer film actuators:Characterization,experiment and analysis[J].Smart Materials&Structures,2009,18(9):95024-95010.
[7]LIU Y,LIU L,ZHANG Z,et al.Electromechanical stability of electro-active silicone filled with high permittivity particles undergoing large deformation[J].Smart Materials&Structures,2010,19(11):115025.
[8]LI B,LIU X,ZHANG J.Phase characterization of cucumber growth:A chemical gel model International[J]Journal of Ploymer Science,2016(4):1-8.
[9]LI B,CHEN H,LI D.Effect of solvent diffusion on reactive chromotropic polyelectrolyte gel[J].International Journal of Applied Mechanics,2016,8(7):4401-4412.
[10]BRO P,PEI Q.Advances in dielectric elastomers for actuators and artificial muscles[J].Macromolecular Rapid Communications,2010,31(1):10-36.
[11]MCKAY T,OBRIEN B,CALIUS E,et al.Soft generators using dielectric elastomers[J].Applied Physics Letters,2011,98(14):142903-142903-142903.
[12]JUNG K,KOO J,LEE Y,et al.Artificial annelid robot driven by soft actuators[J].Bioinspiration&Biomimetics,2007,2(2):S42.
[13]SCHLAAK H,JUNGMANN M,MATYSEK M,et al.Novel multilayer electrostatic solid state actuators with elastic dielectric[J].Proceedings of SPIE,2005,5759:121-133.
[14]TEPEL D.Automated manufacturing process for DEAPstack-actuators[J].Proceedings of SPIE,2014,9056:905627.
[15]MAAS J,TEPEL D,HOFFSTADT T.Actuator design and automated manufacturing process for DEAP-based multilayer stack-actuators[J].Meccanica,2015,50(11):2839-2854
[16]NGUYEN C,PHUNG H,NGUYEN T,et al.A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators[J].Smart Materials and Structures,2014,23(6):065005.
[17]JUNGg H,YANG S,CHO K,et al.Design and fabrication of twisted monolithic dielectric elastomer actuator[J].International Journal of Control Automation and Systems 2017,5(1):25-35.
[18]ARAROMI O,CONN A,LING C,et al.Spray deposited multilayered dielectric elastomer actuators[J].Sensors&Actuators A Physical,2011,167(2):459-467.