Bionic flexible swing actuator

Abstract

The invention discloses a bionic flexible swing actuator and belongs to the technical field of bionic robots. The bionic flexible swing actuator comprises: a frame which is internally hollow; a dielectric elastomer which is pressed against both sides of the frame after being pre-stretched, wherein the portion of the dielectric elastomer in the hollow part of the frame is an active area, and the dielectric elastomer is formed by superposing multiple layers of single-layer dielectric elastic bodies; a flexible electrode which is coated on the left and right surfaces of each layer of dielectric elastic bodies in the active area; ribs located at the bottom ends of the frame to match the shape of the frame; a protective layer which is a flexible insulating waterproof film and used for wrappingthe entire mechanism; wires which are connected to the active area of each layer of dielectric elastic bodies. The bionic flexible swing actuator has the advantages of good flexibility, large swing amplitude, fast response time, simple structure, reusable use, low cost, no noise, no magnetism and convenient installation.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a bionic flexible swing actuator. Background technique [0002] Biological swing actuation has many advantages that traditional swing actuators cannot match. Simulating the biological swing function to obtain the excellent performance of biological actuation and a simple and compact structure has obvious research significance and practical application value. [0003] In recent years, many domestic and foreign research institutions have carried out research on swing actuation by using intelligent driving materials such as piezoelectric ceramics, magnetostriction, shape memory alloys, and pneumatic artificial muscles. Compared with traditional swing actuators, this type of swing actuator has the advantages of simple structure, small size, light weight, etc., and can play a role in robotic fish driving and some complex environments. However, due to the small amount of deform...

AI Technical Summary

Problems solved by technology

However, due to the small amount of deformation, piezoelectric ceramics can only be used in small displacement occasions; at the same time, it often requires an amplification mechanism to amplify the displacement during application, making the structure complex

There is hysteresis in the magnetostrictive drive, the performance of the magnetic field has a great influence on the performance of the magnetostrictive material, and there are hysteresis loss and eddy current loss, and the energy utilization rate is relatively low

Shape memory alloys cause material phase transitions due to temperature changes, resulting in larger distances between lattices and displaying macroscopic displacements for driving. The external temperature has a great influence on it. When the driving space is limited, it is difficult to change the speed, which limits the operating frequency and its efficiency. relatively low

Pneumatic artificial muscles have the advantages of large output force and fast response, but the use of pneumatic artificial muscles requires more accessories such as air sources and control systems, and the system has a large structural size and mass.

Images