Phenomena of nonlinear oscillation and special resonance of a dielectric elastomer minimum energy structure rotary joint
Phenomena of nonlinear oscillation and special resonance of a dielectric elastomer minimum energy structure rotary joint
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介电弹性体最小能量结构旋转接头非线性振荡与特殊共振现象
DOI：
10.1063/1.4915108
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发表时间：
2015-03
影响因子：
4
通讯作者：
Qibing Pei
中科院分区：
文献类型：
--
作者：
Junyang Niu;David McCoul;Zhi Ren;Qibing Pei
电介质弹性体最小能量结构可以通过电介质弹性体的小电压感应应变实现大角度变形，因此它是用于软机器人的旋转关节的合适的候选者。在交变电场驱动下，接头变形振动频率跟随输入电压频率。然而，作者发现，如果转动惯量增加，使得惯性扭矩使框架变形超过一个负角度，那么关节运动将变得复杂，振动模式将随着电压频率的变化而改变。当电压频率等于关节的固有响应频率时，不会出现振幅最大的振动。相反，在振动频率为电压频率的一半的其它频率范围内，振动振幅将相当大。通过电压与关节振动时序的对比分析了这一现象。这种振动...
The dielectric elastomer minimum energy structure can realize large angular deformations by a small voltage-induced strain of the dielectric elastomer, so it is a suitable candidate to make a rotary joint for a soft robot. Driven with an alternating electric field, the joint deformation vibrational frequency follows the input voltage frequency. However, the authors find that if the rotational inertia increases such that the inertial torque makes the frame deform over a negative angle, then the joint motion will become complicated and the vibrational mode will alter with the change of voltage frequency. The vibration with the largest amplitude does not occur while the voltage frequency is equal to natural response frequency of the joint. Rather, the vibrational amplitude will be quite large over a range of other frequencies at which the vibrational frequency is half of the voltage frequency. This phenomenon was analyzed by a comparison of the timing sequences between voltage and joint vibration. This vibra...
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