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在高水静压下压缩性介电弹性体执行器:模型和实验.

Xianghan Wang¹, Bingxu Hu¹, Yang Zhang¹

¹Qingdao Innovation and Development Base, <a href="https://ror.org/03x80pn82">Harbin Engineering University</a>, Qingdao 266000, China.

Physical review. E

|December 18, 2024

概括

这项研究模型和测试介电弹性体执行器 (DEAs) 在极端水静压下,高达105MPa. 研究结果显示,弹性体变硬,应变减少,分解场增加,这对于深海软机器人技术至关重要.

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科学领域:

材料科学材料科学材料科学
机器人技术机器人技术机器人技术
聚合物科学聚合物科学

背景情况:

介电弹性体执行器 (DEA) 是有希望的软执行器,用于极端环境,如深海勘探,因为它们固有的合规性.
然而,它们在高水静压下的性能尚不清楚,这限制了它们的实际应用.
现有的理论模型和实验技术不足以在这种情况下描述DEA.

研究的目的:

为了开发一个合的理论模型的DEAs在水静压下.
引入新的实验技术来描述在高水静压下DEA的行为.
研究水静压对DEA机械和电机性能的影响.

主要方法:

开发一个压力合的液态压力合DEA模型.
在液压压力下的DEA实验性表征技术的实施.
在高达105MPa的压力下测试DEA,模拟深海条件.

主要成果:

观察到弹性体随着水静压的增加而变硬.
在高液压压缩下,执行应变的量化减少.
报告了在高压下DEA的电分解场强度的增加.
模型预测与实验观测一致.

结论:

液压压力显著改变DEA的特性,包括机械刚性,驱动应变和电气故障强度.
开发的模型和实验方法提供了高水立压下DEA的准确表征.
这项研究为设计用于深海应用和先进软机器人系统的强大的DEA提供了必要的指导方针.