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Large actuation in an electromechanical actuator using gel, elastomer, and oil
International Journal of Non-Linear Mechanics ( IF 3.2 ) Pub Date : 2020-05-08 , DOI: 10.1016/j.ijnonlinmec.2020.103499
Cheng Ma , Yukun Xia , Tongqing Lu

Dielectric elastomer actuators have attracted much attention in the application of soft robotics. In this work, we present a new design of electromechanical actuator using gel, dielectric elastomer and oil. Compared to the traditional dielectric elastomer actuator, we replace the electrodes with conductive gel and replace the dielectric elastomer with a combination of oil and elastomer. In our new design, the electrostatic force works against the bending deformation of the gel electrodes. When the applied voltage reaches a critical value, the two gel electrodes pull in and large actuation can be achieved. We present a theoretical analysis by modeling the actuator as a thin membrane subject to the electrostatic pressure and mechanical tension. We fabricate the actuator and demonstrate a large voltage induced actuation strain by pull-in instability. The experimental results verified the theoretical predictions.



中文翻译:

使用凝胶,弹性体和油的机电执行器中的大型执行器

介电弹性体致动器在软机器人的应用中引起了很多关注。在这项工作中,我们提出了一种使用凝胶,介电弹性体和油的机电致动器的新设计。与传统的介电弹性体执行器相比,我们用导电胶代替电极,并用油和弹性体的组合代替介电弹性体。在我们的新设计中,静电力可抵抗凝胶电极的弯曲变形。当施加的电压达到临界值时,两个凝胶电极就会拉入,并且可以实现较大的驱动力。我们通过将执行器建模为受静电压力和机械张力作用的薄膜来进行理论分析。我们制造了执行器,并通过引入不稳定性证明了大的电压感应的执行应变。

更新日期:2020-05-08
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