【作者】 王勇；

【导师】 刘立武；

【作者基本信息】 哈尔滨工业大学 ， 航天工程（专业学位）， 2020， 硕士

【摘要】 近年来,随着智能材料的发展,其应用的领域更加广泛。介电型EAP材料作为电活性聚合物中的一种,在智能材料领域具有重要的研究价值。介电型EAP材料具有轻质化、零噪声、高能量密度比、变形大、反应响应迅速、环境适应好等优点,因而也被人们称之为“人工肌肉”。在本论文中通过介电型EAP材料的变形原理,设计制作了介电型EAP圆柱形驱动器,利用其输出性能,设计了一种新型的柔性仿生机器鱼,从而更加适应复杂的水下环境。在介电型EAP材料和圆柱形驱动器的性能分析的基础上,对弹簧规格、介电型EAP膜拉伸比例、介电型EAP膜卷绕层数、柔性电极涂抹面积比例和弹簧预压缩率等影响因素进行了实验探究和分析总结,从而确定驱动器的制作参数,并且对驱动器的破坏方式进行了总结。对介电型EAP膜拉伸装置进行了设计和制作,使其更加方便、高效的使用。分析圆柱形驱动器在结构设计和制作过程中所存在的问题,并进行了完善和优化。同时结合实验所确定的制作参数,对介电型EAP圆柱形驱动器的制作过程做了详细说明,并进行实验测试。为了进一步分析介电型EAP圆柱形驱动器受力情况,通过对驱动器模型的简化进行了仿真分析,从而验证实验结果。设计了驱动单元的控制系统,对各个模块进行了详细的分析说明。同时在前面的基础上设计了一种新型柔性仿生机器鱼,并对其结构设计、制作过程做了详细说明。更多还原

【Abstract】 In recent years,with the development of smart materials,its application fields are more extensive.As one of electroactive polymers,dielectric EAP material has important research value in the field of smart materials.Dielectric EAP materials have the advantages of light weight,zero noise,high energy density ratio,large deformation,rapid response and good environmental adaptation,etc.,so they are also called "artificial muscles".In this paper,through the deformation principle of the dielectric EAP material,a dielectric EAP cylindrical driver is designed and manufactured.Using its output performance,a new type of flexible bionic robot fish is designed,which is more suitable for complex underwater environments.Based on the performance analysis of the dielectric EAP material and the cylindrical actuator,the spring specifications,the stretching ratio of the dielectric EAP film,the number of winding layers of the dielectric EAP film,the coating area ratio of the flexible electrode,and the spring pre-compression rate Other influencing factors were experimentally explored,analyzed and summarized,so as to determine the production parameters of the drive,and summarized the destruction mode of the drive.The dielectric EAP film stretching device is designed and manufactured to make it more convenient and efficient to use.Analyze the problems existing in the structural design and manufacturing process of the cylindrical drive,and improve and optimize it.At the same time,combined with the manufacturing parameters determined by the experiment,the manufacturing process of the dielectric EAP cylindrical driver is described in detail,and the experimental test is carried out.In order to further analyze the force situation of the dielectric EAP cylindrical driver,a simulation analysis of the simplified driver model was carried out to verify the experimental results.The control system of the drive unit is designed,and each module is analyzed and explained in detail.At the same time,a new type of flexible bionic robot fish was designed on the basis of the previous,and the structural design and manufacturing process were described in detail.更多还原