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确定柔性驱动单元位移效率的能量占比法
An Energy Ratio Method for Determining the Moving Efficiency of a Soft Actuator Unit
投稿时间:2022-05-15  修订日期:2022-07-22
DOI:
中文关键词:  介电弹性体  伸长比  柔性驱动单元  能量占比
英文关键词:dielectric elastomer  pre-stretch ratio  soft actuator unit  energy ratio
基金项目:国家自然科学基金项目(面上项目,重点项目,重大项目)
作者单位邮编
阮宏波 天津大学 300354
屈川 天津大学 机械工程学院 300354
仇巍 天津大学 300354
侯振德 天津大学 300354
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中文摘要:
      介电弹性体是一种能在电场作用下改变其面积和厚度的电活性柔性材料,已被广泛用于制作各种结构的柔性驱动器。设计了一种马鞍形驱动单元,为了实现单元运动效率最大化,从经典的超弹性材料能量理论出发,提出了静电能与预拉伸应变能占比的方法,以寻求介电弹性体薄膜的最佳预拉伸比例,实现柔性驱动单元一定电压驱动下达到单步最大位移或最大效率。基于Gent模型和neo-Hookean模型,确定能量占比与两个独立的预拉伸伸长比之间表现为一单脊三维曲面的关系。在两个伸长比之和为常数的情况下,两个方向的伸长比相等或者说位于脊上时,占比能量最大。通过对多组不同预拉伸伸长比的柔性驱动单元实验测试发现,单元能量占比越大,单元位移也越大;两个伸长比越靠近脊,单元相对位移越大,反之则位移越小。实验结果与理论结果一致,证实了能量占比方法的有效性。能量占比方法为确定柔性介电弹性体驱动单元的行走效率提供了设计准则。
英文摘要:
      Dielectric elastomer is an electroactive flexible material that can be used to develop soft actuators, for it can change its area and thickness under the action of an electric field. An energy ration method of Hyperelastic Materials is proposed in this paper in order to determine the optimized stretch ratios of the elastomer film and then design a soft actuator unit capable of moving with a maximum step. Based on Gent and neo-Hookean models, the obtained expressions of the energy ratios are single ridge 3D surface in three-dimensional coordinate system with two mutually perpendicular pre-stretch ratios axes for positions. It is found that the maximum energy ratio is at the top ridge with the two stretch ratios being equal when the sum of the two ratios is constant. Moving steps of some soft actuator units with different pre-stretch ratios are obtained through experiments. The results show that the greater the energy ratios are the greater the moving step of the actuator unit is. Not only that, the closer the pre-stretch ratios are to the ridge the greater the moving step of the actuator unit is and vice versa. The experimental results are very consistent with the energy ratio distribution characteristics of the method proposed, which demonstrates the effectiveness of the method. The energy ratio can provide a design criteria for a high efficiency of soft dielectric elastomer actuator unit.
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