Method for calculating driving force of planar hydraulic amplification self-healing electrostatic actuator

Abstract

The invention provides a method for calculating driving force of a planar hydraulic amplification self-healing electrostatic actuator, and belongs to the technical field of robot modeling. According to the method, the driving force is decomposed into electrostatic force generated by an electrostatic field, elastic force generated by an elastic silica gel shell layer and hydrostatic pressure generated by compressing a middle liquid dielectric layer by the elastic silica gel shell layer, and the driving force is obtained by summing after each component force is calculated. The influence of various factors such as the actuator size, the pre-stretching rate, the silica gel shell thickness, the liquid dielectric volume and related material parameters is considered, and the driving force of theactuator can be calculated by simply measuring the parameters such as the actuator size and inputting the voltage. The method is simple and efficient, and can quickly calculate the accurate driving force of the planar hydraulic amplification self-healing electrostatic actuator. The control precision and the driving efficiency of the actuator to robot motion are effectively improved after being applied to a robot system.

Description

technical field [0001] The invention proposes a driving force calculation method of a plane hydraulic amplified self-healing electrostatic actuator, which belongs to the technical field of robot modeling. Background technique [0002] Soft actuators have the advantages of portability, high power density, strong adaptability, and high safety. They are widely used in fields such as human-machine collaboration, human-machine integrated systems, and unstructured space operations. Commonly used soft actuators include fluid actuators, pneumatic actuators, thermally actuated artificial muscles, and dielectric elastomers. Due to the problems of fluid or pneumatic actuators requiring additional pumps, low efficiency of thermally actuated artificial muscles, and easy breakdown of dielectric elastomers, the application of related soft actuators is limited to a certain extent. [0003] The planar hydraulically amplified self-healing electrostatic actuator (HASEL) is a new type of soft ...

AI Technical Summary

Problems solved by technology

Calculating the driving force through linearization can be applied in some occasions where the requirements are not strict, but the error is large, and it is difficult to obtain an accurate correspondence between the input and output relationship of the actuator, which is difficult to achieve when the actuator is applied to the robot system for control Precise Control of Robotic Systems

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