A thin membrane artificial muscle rotary motor
A thin membrane artificial muscle rotary motor
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DOI：
10.1007/s00339-009-5434-5
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发表时间：
2010-01-01
影响因子：
2.7
通讯作者：
Calius, Emilio P.
中科院分区：
文献类型：
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作者：
Anderson, Iain A.;Hale, Thom;Calius, Emilio P.
机器人所需的旋转电机属性包括在低质量物体中产生高扭矩的能力，以及在低转速下产生峰值功率的能力。电活性聚合物人工肌肉有望成为机器人马达的执行元件。介电弹性体致动器(DEA)是一种很有前途的人工肌肉技术，可用作旋转运动的驱动机构。我们提出了一种膜式DEA电机，其中电机膜的电极扇区的相控致动将轨道运动传递给转动转子的中央驱动器。该马达本身具有可伸缩性、灵活性、平坦性、运行静音、易于采用基于沉积的制造方法，并且使用相对便宜的材料。作为一种膜，它也可以形成机器人皮肤的一部分。我们研究了堆叠膜层的扭矩和功率。仅按活性膜质量计算时，比功率比为20.8W/kg，扭矩比为4.1Nm/kg。这些数字与商业上可用的步进电机相比是有利的。多膜制造大大提高了扭矩和功率，并增加了膜相对于支撑框架的有效质量。通过有限元建模，我们展示了控制装置可以产生的最大扭矩的机理以及如何改进电机。
Desirable rotary motor attributes for robotics include the ability to develop high torque in a low mass body and to generate peak power at low rotational speeds. Electro-active polymer artificial muscles offer promise as actuator elements for robotic motors. A promising artificial muscle technology for use as a driving mechanism for rotary motion is the dielectric elastomer actuator (DEA). We present a membrane DEA motor in which phased actuation of electroded sectors of the motor membrane impart orbital motion to a central drive that turns a rotor. The motor is inherently scalable, flexible, flat, silent in operation, amenable to deposition-based manufacturing approaches, and uses relatively inexpensive materials. As a membrane it can also form part of the skin of a robot.We have investigated the torque and power of stacked membrane layers. Specific power and torque ratios when calculated using active membrane mass only were 20.8 W/kg and 4.1 Nm/kg, respectively. These numbers compare favorably with a commercially available stepper motor.Multi-membrane fabrication substantially boosts torque and power and increases the active mass of membrane relative to supporting framework. Through finite element modeling, we show the mechanisms governing the maximum torque the device can generate and how the motor can be improved.