介电型EAP卷绕式驱动器的实现与应用

摘要

Based on the merits of dielectric electroactive polymer ( EAP),a 2-DOF rol actuator is designed and implemented using VHB4910 as actuating material,which can make elongating and shortening motion and bending motion. The properties of the actuator are tested,the largest axial displacement is up to 6.78 mm,the largest axial thrust and tension are up to 9.56 N and 9.81 N,the lar￣gest bending angle is up to 87° and the largest blocking force is up to 1.04 N. A robot can crawl by instal ing two one-way wheels on both ends of the actuator and go ahead by the elongating and shortening motion and bending motion,the fastest speed of elongating and shortening motion is 1.55 mm/s,and the fastest speed of bending motion is up to 6.41 mm/s. The experiments prove that elec￣troactive polymer can be used to implement the crawling of miniature robot.%基于介电型EAP ( electroactive polymer，电活性聚合物)的优点，以 VHB4910作为驱动材料，设计、实现了卷绕式二自由度驱动器，它可产生轴向伸缩和弯曲运动。对驱动器的性能进行测试，其最大轴向位移为6.78 mm，最大轴向推拉力分别为9.56 N、9.81 N；最大弯曲角度达87°，最大侧向力为1.04 N。在驱动器两端安装两对单向轮，实现了一个可爬行运动的机器人，该机器人可通过驱动器的伸缩和弯曲向前运动，其伸缩运动速度为1.55 mm/s，弯曲运动速度可达6.41 mm/s。试验证明介电型EAP可以用于实现微小型爬行机器人。