【摘要】 针对圆柱介电驱动单元存在驱动力不足、驱动效率低、驱动电压高等方面的问题,设计制造了弯曲形圆柱介电驱动单元。根据介电弹性体材料特性,合理设计圆柱驱动单元结构,通过不同的电极涂覆方式实现圆柱驱动单元的弯曲运动。采用实验法通过轴向位移、轴向力以及弯曲角度对驱动单元的变形性能进行表征,对比了卷绕圈数、弹簧参数以及预拉伸率对驱动单元性能的影响,得到了制作驱动单元的优化参数,提高了驱动单元的驱动效率,基于优化参数进行了机械抓手的制作,实现了抓取运动。更多还原

【Abstract】 In view of the problem of insufficient driving force, low drive efficiency and high drive voltage, the curved cylindrical Dielectric Elastomer drive unit is designed and manufactured. According to the material characteristics of Dielectric Elastomer(DE), the structure of the cylindrical drive unit is reasonably designed and the bending motion of the cylindrical drive unit is realized by different electrode coating methods. The deformation performance of the drive unit is indicated by the experimental method by axial displacement, axial force and bending angle, and the effect of winding laps, spring parameters and pre-stretch rate on the performance of the drive unit is compared, the optimization parameters of the driving unit are obtained, the driving efficiency of the drive unit is improved, the mechanical grip is made based on the optimization parameters, and the grip movement is realized.更多还原