An analytical model for the design of Peano-HASEL actuators with drastically improved performance
An analytical model for the design of Peano-HASEL actuators with drastically improved performance
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DOI：
10.1016/j.eml.2019.100449
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发表时间：
2019-05-01
影响因子：
4.7
通讯作者：
Keplinger, Christoph
中科院分区：
文献类型：
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作者：
Kellaris, Nicholas;Venkata, Vidyacharan Gopaluni;Keplinger, Christoph
新兴的软机器人领域有望在人机交互、工业自动化和生物医学设备等领域得到应用。电液Peano-HASEL（液压放大自愈静电）致动器具有激活时类似肌肉的线性收缩，快速操作和直接电气控制，这使它们成为软机器人的多功能致动器。为了更好地理解几何形状和材料对致动器性能的影响，我们开发了一个分析模型-基于最小化致动器系统的总能量-准确地预测致动器的准静态行为，而不依赖于拟合参数。我们提出了广泛的实验验证这个模型的致动器具有不同的几何形状，以及致动器由不同的电气和机械性能的外壳材料。使用这些结果，我们确定的设计规则，可调力-应变特性的致动器的发展。作为本文的一个关键结果，我们制定了一个路线图，用于创建具有大幅提高的比能量的Peano-HASEL。具体来说，我们确定了一种囊袋几何形状和现有高性能外壳材料的组合，该模型预测致动器的比能量超过10，000 J/kg，远远超过天然肌肉报告的最大值（类似于40 J/kg）。(C)2019爱思唯尔有限公司版权所有。
The emerging field of soft robotics promises applications in areas such as human-machine interaction, industrial automation, and biomedical devices. Electrohydraulic Peano-HASEL (hydraulically amplified self-healing electrostatic) actuators feature muscle-like linear contraction on activation, fast operation, and direct electrical control, which makes them a versatile actuator for soft robotics. To better understand the impact of geometry and materials on actuator performance, we develop an analytical model - based on minimizing the total energy of the actuator system - that accurately predicts the quasi-static behavior of the actuators without relying on fitting parameters. We present extensive experimental validation of this model for actuators with varying geometries, as well as actuators made from shell materials with different electrical and mechanical properties. Using these results, we identify design rules for the development of actuators with tunable force-strain characteristics. As a key result of this paper, we lay out a roadmap for creating Peano-HASELs with drastically improved specific energies. Specifically, we identify a combination of pouch geometry and an existing high-performance shell material for which the model predicts actuators that achieve a specific energy of over 10,000 J/kg, far exceeding maximum values reported for natural muscle (similar to 40 J/kg). (C) 2019 Elsevier Ltd. All rights reserved.