A Foldable Antagonistic Actuator
A Foldable Antagonistic Actuator
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DOI：
10.1109/tmech.2014.2359337
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发表时间：
2015-10-01
影响因子：
6.4
通讯作者：
Shea, Herbert R.
中科院分区：
文献类型：
--
作者：
Shintake, Jun;Rosset, Samuel;Shea, Herbert R.
我们报告的致动器的基础上的介电弹性体，能够拮抗致动和被动折叠。该致动器能够以简单的结构实现机器人的折叠性。与其他对抗性介电弹性体器件不同，我们的概念使用弹性铰链来允许结构的折叠，这也提供了额外的设计参数。为了通过具体的应用测试验证致动器概念，开发了外形尺寸为70 mm x 130 mm的可折叠升降副翼致动器，其角位移范围和扭矩规格与质量为130 g的400 mm翼展微型飞行器（MAV）相匹配。建立了该作动器的解析模型，用于指导作动器的设计。该驱动器由125 μ m厚的硅橡胶薄膜作为电介质弹性体，0.2 mm厚的玻璃纤维板作为框架结构，50 μ m厚的聚酰亚胺作为弹性铰链组成。我们测量了电压可控的角位移高达+/- 26度和2720 mN的扭矩。mm，在5 kV，具有良好的协议之间的模型和测量数据。两个升降副翼作动器被集成到MAV中，并成功飞行，可折叠作动器提供稳定和良好的控制飞行。通过计算控制信号和MAV运动之间的相关性定量评估了可控性，在飞行期间测量的滚转轴上的相关性超过0.7，说明了该可折叠致动器的高性能。
We report on an actuator based on dielectric elastomers that is capable of antagonistic actuation and passive folding. This actuator enables foldability in robots with simple structures. Unlike other antagonistic dielectric elastomer devices, our concept uses elastic hinges to allow the folding of the structure, which also provides an additional design parameter. To validate the actuator concept through a specific application test, a foldable elevon actuator with outline size of 70 mm x 130 mm is developed with angular displacement range and torque specifications matched to a 400-mm wingspan micro-air vehicle (MAV) of mass 130 g. A closed-form analytical model of the actuator is constructed, which was used to guide the actuator design. The actuator consists of 125-mu m-thick silicone membranes as the dielectric elastomers, 0.2-mm-thick fiberglass plate as the frame structure, and 50-mu m-thick polyimide as the elastic hinge. We measured voltage-controllable angular displacement up to +/- 26 degrees and torque of 2720 mN . mm at 5 kV, with good agreement between the model and the measured data. Two elevon actuators are integrated into the MAV, which was successfully flown, with the foldable actuators providing stable and well-controlled flight. The controllability was quantitatively evaluated by calculating the correlation between the control signal and the MAV motion, with a correlation in roll axis of over 0.7 measured during the flights, illustrating the high performance of this foldable actuator.