Actor systems based on a controlled particle-matrix interaction in magnetic hybrid materials with application for locomotion and manipulation

基于磁性混合材料中受控粒子-基质相互作用的执行器系统，用于运动和操纵

• 批准号: 237752329
• 负责人: Professor Dr.-Ing. Klaus Zimmermann
• 金额: --
• 依托单位: Russian Foundation for Basic Research
• 依托单位国家: 德国
• 项目类别: Priority Programmes
• 财政年份: 2013
• 资助国家: 德国
• 起止时间: 2012-12-31 至 2021-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/237752329?language=en
• 关键词: Actor; systems; based; controlled; particle

The aim of the project is the investigation of the use of hybrid materials in technical actuator systems and the implementation of their beneficial properties in prototypes for locomotion and manipulation purposes. These hybrid materials are composed of magnetic particles as suspended component and complex substrates with or without reversible variable properties. In the focus is the use of compliant magnetic hybrid materials based on elastomers as matrix material. The reversible variable mechanical behaviour of technical functional elements should be realized and specifically controlled by magnetic fields using particle matrix interactions. On this basis, the realization of - adaptive actuator systems with on the current load state and ambient characteristics adaptable mechanical behaviour, as well as - sensors with variable sensitivity integrated in locomotion and manipulation systems is planned. In the field of manipulation systems, work is continuing steadily with studies of the immediate contact area between the object which is to be gripped and the effector (gripper). Based on the promising results of the preliminary investigations in the first funding period, the planned work of the second application period will be particularly focused on sensor applications integrated in actuator systems. The current objective comprises the model-based theoretical and experimental metrological investigation of two kinds of magnetic hybrid materials: electrically conductive hybrid magnetic materials and magnetic hybrid materials with an elastomer thermoplastic matrix. The use of magneto-sensitive hybrid materials allows the realization of sensor and actuator systems with a complex and on the current operating situation independently adaptive and adaptable mechanical behaviour. From the perspective of an engineer who is focused on the generation of technical solutions, properties which are only achievable through the systematic integration of the particles in the matrix and their interactions are: - the ability to easily create complex deformations by appropriate shaping of the objects and the design of the magnetic fields - a reversible variable, by magnetic fields controllable, mechanical compliance - a reversible variable, by magnetic fields controllable anisotropy of mechanical properties and parameters - the dependence of the mechanical properties of the load history and the ambient parameters. Based on own preliminary work in the first application period, the goal in the, for the applicant new application field of sensor technology, is the realization of force / acceleration sensors with controllable sensitivity through magnetic fields resulting from particle-matrix interactions.

该项目的目的是调查混合材料在技术致动器系统中的使用，以及在用于运动和操纵目的的原型中实现其有益特性。这些杂化材料是由磁性颗粒作为悬浮组分和具有或不具有可逆可变性质的复杂基底组成的。重点是使用基于弹性体作为基体材料的柔顺磁性混合材料。技术功能元件的可逆可变机械行为应该通过使用粒子基质相互作用的磁场来实现和具体控制。在此基础上，实现的自适应执行器系统与当前的负载状态和环境特性适应的机械行为，以及可变灵敏度的传感器集成在运动和操纵系统的计划。在操作系统领域，对被夹持物与执行器（夹持器）之间的直接接触面积的研究工作一直在稳步进行。基于第一个资助期初步研究的良好结果，第二个申请期的计划工作将特别侧重于集成在执行器系统中的传感器应用。本论文的主要目的是对两类磁性杂化材料进行基于模型的理论和实验研究：导电性磁性杂化材料和具有弹性体热塑性基体的磁性杂化材料。磁敏混合材料的使用允许实现传感器和致动器系统，其具有复杂的并且在当前操作情况下独立自适应和自适应的机械行为。从专注于技术解决方案生成的工程师的角度来看，只有通过基质中颗粒的系统整合及其相互作用才能实现的特性是：- 通过物体的适当成形和磁场的设计容易地产生复杂变形的能力-可逆变量，通过磁场可控，机械顺应性-一个可逆的变量，由磁场可控的各向异性的机械性能和参数-的依赖性的机械性能的负载历史和环境参数。基于在第一个申请阶段的初步工作，申请人在传感器技术新应用领域的目标是通过粒子-基质相互作用产生的磁场实现具有可控灵敏度的力/加速度传感器。