一种研究和提高软静电执行器能效的方法
Steven L Zhang1, Toshihiko Fukushima1, Sophie Kirkman1
1Robotic Materials Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany.
概括
研究人员开发了一种新方法来测量软静电驱动器效率. 这个框架显示了高达63.6%的效率,显著提升了软机器人在高性能,低功耗应用中的潜力.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
- 能源转换 能源转换
背景情况:
- 软静电驱动器为生物灵感和可穿戴机器人提供肌肉般的运动.
- 软执行器的现有效率指标没有标准化,阻碍了开发.
- 需要一个统一的框架来准确评估软执行器的能量转换.
研究的目的:
- 建立一个全面的方法来测量软静电执行器的电力转换成机械能效率.
- 根据负载,电压,频率和材料特性来分析效率.
- 为评估和改进软执行器性能提供标准化的方法.
主要方法:
- 开发了一种使用工作结合变量 (电压-电荷,力位) 分析闭环的方法.
- 实验设置使这些变量的实时测量和控制成为可能.
- 将该方法应用于Peano-HASEL (液压放大自愈电静电) 和介电弹性体执行器 (DEA).
主要成果:
- 效率在很大程度上取决于应用的电压,力和执行频率.
- 对于Peano-HASEL执行器,最大测量效率达到了63.6%,是之前报告的三倍.
- 使用这种新方法,介电弹性体执行器 (DEAs) 的效率高达62.9%.
- 在机械和电气循环中识别和研究了能量损失.
结论:
- 拟议的综合方法为评估软静电驱动器效率提供了一个标准化的框架.
- 这一框架有助于研究和开发高效的软机器人.
- 证明了该方法在不同类型的静电执行器中具有普遍的适用性.
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