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阮宏波,屈川*,仇巍*,侯振德.确定柔性驱动单元位移效率的能量占比法[J].实验力学,2023,38(4):415~424
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:10.7520/1001-4888-22-122
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(11672350)
作者单位
阮宏波 天津大学 机械工程学院, 天津 300354 
屈川* 天津大学 机械工程学院, 天津 300354 
仇巍* 天津大学 机械工程学院, 天津 300354 
侯振德 天津大学 机械工程学院, 天津 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自身面积和厚度的电活性柔性材料,目前已被广泛用于制作各种结构的柔性驱动器。本文研制了一种马鞍形驱动单元,为了使驱动单元在一定电压驱动下达到单步最大位移(或称最大运动效率),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,用于确定介电弹性体薄膜的最佳预拉伸比例,从而实现柔性驱动单元最大运动效率。基于Gent模型和neo-Hookean模型,通过分析计算确定了能量占比与2个独立的预拉伸伸长比之间存在一单脊三维曲面的关系,并进一步发现介电薄膜在2个伸长比之和为常数的情况下,2个方向的伸长比相等时,能量占比最大。又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,单元相对位移也越大;单元2个方向伸长比的值越靠近单脊三维曲面的脊或称凸起部分,单元相对位移越大,反之位移则越小。经实验验证,实验结果与计算结果的三维曲面分布趋势一致,证实了能量占比方法的有效性。
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 ratio 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 a 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. 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 design criteria for high efficiency of soft dielectric elastomer actuator unit.
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