可自修复的电流体驱动柔性执行器研究

流体驱动柔性执行器具有设计灵活度高，作动行程大以及价格低廉等优点，是目前研究和应用最为广泛的软体机器人驱动技术。然而，其发展仍然面临一些重要挑战。传统刚性泵或压缩机等流体动力源的体积和重量过大，严重降低了柔性执行器的可携带性。基于化学反应或相变等新方法的流体驱动柔性执行器的可携带性好，但它们存在可控性能差等缺点。此外，柔性执行器也存在流体泄漏风险。为此，本项目拟研发同时具备可携带性好、作动性能优异、可控性高以及可自修复等优点的电流体驱动柔性执行器。针对柔性执行器的作动特性、自修复特性以及电/液/固多场耦合理论等问题进行基础研究，揭示外加电信号参数以及执行器结构、材料参数对执行器作动特性的影响规律，探明柔性执行器的自修复特性及其影响规律，明晰电/液/固多场耦合理论，形成一套电流体驱动柔性执行器的优化设计理论与高效制作方法，为高性能电流体驱动柔性执行器的开发提供理论依据和技术支持。

Fluid-driven flexible actuator has the advantages of high design flexibility, large actuation stroke, and low cost, which is the most widely studied and applied actuation technology of soft robots. However, its development still faces several important challenges. The volume and weight of traditional rigid pump or compressor are too large, seriously reducing the portability of flexible actuators. Fluid-driven flexible actuators based on novel methods such as chemical reaction or phase change have good portability, but they have disadvantages such as poor controllability, etc. Additionally, the fluid-driven flexible actuators also have the risk of fluid leakage. Therefore, this project intends to develop electrohydraulic-driven flexible actuators with good portability, excellent actuation performance, high controllability, and self-repairing capability. Fundamental researches on actuation characteristics, self-repairing characteristics, and electric/liquid/solid multi-field coupling theory of flexible actuator will be carried out. The influence of external electrical signal parameters, and actuator structure and material parameters on the actuation characteristics of flexible actuator will be revealed; the self-repairing characteristics and influence law of flexible actuator will be explored; the electric/liquid/solid multi-field coupling theory will be clarified; and the optimal design theory and efficient manufacturing method of the actuator will be formed. This study will provide theoretical basis and technical support for the development of high-performance electrohydraulic-driven flexible actuators.