Electrostatic film actuators represent a promising new approach to drive a soft robot, but they lack a comprehensive model to link the design parameters and actuation performance, making actuator design and parameter optimization challenging. To solve this problem, we build a mathematical model based on the method of moments by assuming that each electrode consists of a large number of line charges. This model can directly deduce fluctuation in thrust and adhesive forces during actuator movement, as well as the distribution of electric potential and field strength, for analysis and optimization. It consumes shorter computing time and fewer computing resources, but with comparable accuracy, in comparison with previous indirect means. It is validated by results from both previous studies and on-site experiments. Based on this model, we generate numerous values of actuator output force for different structural parameters. By analyzing the tendency, we summarize a parameter optimization workflow and write an open-sourced program as an example to facilitate the parameter selection for actuator design starting from scratch.

中文翻译：

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基于矩量法的静电薄膜驱动器建模与优化

静电薄膜致动器代表了一种有前途的驱动软机器人的新方法，但它们缺乏将设计参数和致动性能联系起来的综合模型，使得致动器设计和参数优化具有挑战性。为了解决这个问题，我们假设每个电极由大量的线电荷组成，建立了一个基于矩量法的数学模型。该模型可以直接推导出执行器运动过程中推力和附着力的波动，以及电势和场强的分布，以供分析和优化。与以前的间接方式相比，它消耗的计算时间更短，计算资源更少，但精度相当。它得到了先前研究和现场实验的结果的验证。基于这个模型，我们为不同的结构参数生成许多执行器输出力值。通过分析趋势，我们总结了一个参数优化工作流程并编写了一个开源程序作为示例，以方便执行器设计的参数选择从头开始。