A Magnetically Coupled Dielectric Elastomer Pump for Soft Robotics
A Magnetically Coupled Dielectric Elastomer Pump for Soft Robotics
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DOI：
10.1002/admt.201900128
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发表时间：
2019-08-01
影响因子：
6.8
通讯作者：
Conn, Andrew T.
中科院分区：
文献类型：
--
作者：
Cao, Chongjing;Gao, Xing;Conn, Andrew T.
流体弹性体致动器在软机器人中已经变得无处不在，因为它们可以用于创建具有体现智能的固有顺应性系统。然而，它们通常使用传统的刚性空气压缩系统，这限制了它们在无束缚的移动的和可穿戴设备中的应用。提出了一种用于软机器人的嵌入式气动隔膜泵，该泵由磁耦合介质弹性体驱动器（MCDEA）驱动。MCDEA泵利用膜之间的顺应性耦合，以高功率和效率共振，尽管气动室和阀门的阻尼效应。MCDEA泵表现出有吸引力的动态性能，共振时的峰值冲程超过低频时的800%，这对应于30.5 mbar的最大输出压力和0.9 L min（-1）的流量，相对较低的功耗为40 mW。这种气动泵设计的性能是通过将其与几个软机器人原型，包括一个软夹持器，气球室，和一个吸盘。它显示了相当大的前景，为推动下一代完全符合和不受束缚的软机器人。
Fluidic elastomer actuators have become ubiquitous in soft robotics as they can be used to create inherently compliant systems with embodied intelligence. However, they typically use conventional rigid air-compression systems that restrict their application in untethered mobile and wearable devices. An embeddable pneumatic diaphragm pump is presented for soft robotics driven by a magnetically coupled dielectric elastomer actuator (MCDEA). The MCDEA pump exploits a compliant coupling between membranes to resonate at high power and efficiency despite the damping effects of the pneumatic chamber and valves. The MCDEA pump demonstrates an attractive dynamic performance with a peak stroke at resonance of over 800% of that at low frequencies, which corresponds to a maximum output pressure of 30.5 mbar and a flowrate of 0.9 L min(-1) at a relatively low power consumption of 40 mW. The performance of this pneumatic pump design is demonstrated by integrating it with several soft robotic prototypes, including a soft gripper, ballooning chamber, and a suction cup. It shows considerable promise for driving the next generation of fully compliant and untethered soft robots.