【摘要】 介电弹性体驱动系统是一种基于介电材料的形变特性来驱动机械系统的新型柔性驱动装置,利用介电弹性体驱动与控制机器人成为当前软体机器人领域的研究热点.鉴于此,围绕介电弹性体驱动系统的核心关键问题,即驱动系统的建模与控制方法进行全面回顾与展望.首先,阐述介电弹性体驱动系统的结构与驱动过程,对介电弹性体驱动原理进行详细介绍;然后,针对介电弹性体驱动系统所展现出的复杂非线性特性,从建模与控制两个方面展开综述,详细分析不同建模方法与控制策略的优势与局限性;最后,探讨介电弹性体建模和控制中存在的问题及未来的研究方向.更多还原

【Abstract】 A dielectric elastomer actuated system is a novel flexible actuator based on the deformation property of dielectric material to actuate mechanical systems, and the use of a dielectric elastomer to actuate and control robots has become a current research hotspot in the field of soft robotics. Therefore, the core key issues of a dielectric elastomer drive system, namely, the modeling and control methods of the dielectric elastomer actuated system, are reviewed and presented in a comprehensive manner. Firstly, the structure and the actuating process of dielectric elastomer actuated systems are described, and the actuation principle of dielectric elastomer drive is explained in detail. Then, the complex nonlinear characteristics of dielectric elastomer actuated systems are reviewed in the aspects of modeling and control,with detailed analysis of the advantages and limitations of different modeling methods and control strategies. Finally, the issues in modeling and control of dielectric elastomers and future research progress are discussed.更多还原