Variable impedance due to electromechanical coupling in electroactive polymer actuators
Variable impedance due to electromechanical coupling in electroactive polymer actuators
复制标题
电活性聚合物致动器中机电耦合导致的可变阻抗
DOI：
10.1109/iros.2011.6095042
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
M. Cutkosky
中科院分区：
文献类型：
--
作者：
S. Dastoor;M. Cutkosky
本文提出了一种基于电活性聚合物（EAP）致动器的可变阻抗悬浮系统，利用其固有的顺应性和阻尼，重量轻，低功耗的要求。我们描述了用于创建一个小的，重量轻的EAP悬浮和一种新颖的控制电路，用于改变其属性的制造过程。接下来，我们对改变阻抗值的机电耦合进行建模，并通过实验验证其行为。特别感兴趣的是瞬时响应，例如，当机器人在跳跃或滑行后着陆时遇到的响应。最后，我们讨论的性能变化时，可能适用于一个小的飞行和栖息机器人的可变阻抗EAP悬浮。
This paper presents a variable impedance suspension system based on electroactive polymer (EAP) actuators, leveraging their inherent compliance and damping, light weight, and low power requirements. We describe the manufacturing process used to create a small, lightweight EAP suspension and a novel control circuit used to vary its properties. Next, we model the electromechanical coupling by which impedance values are changed, and experimentally verify its behavior. Of particular interest is the transient response, for example, as encountered when a robot touches down after jumping or gliding. We conclude with a discussion of the changes in performance that are possible when applying a variable impedance EAP suspension to a small flying and perching robot.
影响因子：
3.3
作者：
FARLEY, CT;BLICKHAN, R;TAYLOR, CR
通讯作者：
TAYLOR, CR