Towards holonomic electro-elastomer actuators with six degrees of freedom
Towards holonomic electro-elastomer actuators with six degrees of freedom
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DOI：
10.1088/0964-1726/21/3/035012
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发表时间：
2012-03-01
影响因子：
4.1
通讯作者：
Rossiter, J.
中科院分区：
文献类型：
--
作者：
Conn, A. T.;Rossiter, J.
功能高效的六自由度（DOF）致动器还没有开发出尺度不变和固有顺应性的统一形式。这主要是由于使用了传统的串联或并联运动学配置和电磁马达、气动装置和液压装置。与传统技术相反，利用电活性弹性体能够以最小的结构复杂性实现多自由度致动和完整操作。锥形介电弹性体致动器（DEA）是紧凑型多自由度致动器-传感器，可扩展且可完全聚合，适用于各种应用，包括微创医疗器械。在本文中，锥DEA的发展，从一个单一的结构集成6自由度驱动与肌肉一样的性能。这是通过证明完整的6自由度驱动的可行性，并通过5自由度原型的实验表征。5-DOF原型（50 mm长，60 mm直径）产生+/-21.7度和+/-9.42 mN m的旋转致动输出以及+/-4.45 mm（+/-9.1%）和+/-0.55 N的线性致动输出。最后，结合多自由度驱动的可扩展的完整的电活性弹性体致动器的发展的一部分。
Functionally efficient six degree of freedom (DOF) actuators have not yet been developed in a scale-invariant and inherently compliant unified form. This has primarily been due to the use of conventional serial or parallel kinematical configurations and electromagnetic motors, pneumatics and hydraulics. Contrary to traditional technologies, utilizing electro-active elastomers enables multi-DOF actuation and holonomic operation with minimal structural complexity. Conical dielectric elastomer actuators (DEAs) are compact multi-DOF actuator-sensors that are scalable and can be entirely polymeric, making them suitable for a variety of applications including minimally invasive medical devices. In this paper, cone DEAs are developed towards integrated 6-DOF actuation with muscle-like performance from a single structure. This is achieved by demonstrating the feasibility of holonomic 6-DOF actuation and through experimental characterization of a 5-DOF prototype. The 5-DOF prototype (50 mm length, 60 mm diameter) produced rotational actuation outputs of +/- 21.7 degrees and +/- 9.42 mN m and linear actuation outputs of +/- 4.45 mm (+/- 9.1%) and +/- 0.55 N. Finally, combined multi-DOF actuation is demonstrated as part of development towards scalable holonomic electro-active elastomer actuators.