Flexible gel driver and preparation method thereof

Abstract

The invention relates to a flexible gel driver which comprises a male end, a female end and a gel driving unit, the gel driving unit is located between the male end and the female end, the gel driving unit comprises an electroactive polymer main body, a flexible cathode and an anode and a restraining piece, and the restraining piece is attached to the surface of the electroactive polymer main body or embedded in an electroactive polymer. The flexible cathode and anode are attached to the surface of the electroactive polymer main body, and the gel driving units are connected in series or in parallel through the male end and the female end. The module units of the gel driver can be connected in series and can be connected in parallel in the thickness direction and the plane direction, and the prestretching of the gel main body film in the non-driving direction is adjusted through the restraining piece, so that the output displacement and the output force of the driver in the driving direction are improved; the driver module can be effectively applied to bionic robots, flexible robots and the like. The preparation method of the flexible gel driver is used for preparing the gel driver, and the technical effects can also be achieved.

Description

technical field [0001] The invention relates to the technical field of intelligent materials and intelligent structures, in particular to a flexible gel actuator and a preparation method thereof. Background technique [0002] With the diversification of robot application scenarios, "human-machine friendly" design requirements are gradually put forward. Although rigid drive technologies such as traditional motor reducers can provide large output force, it is easy to design force drives with high bandwidth and high performance. Its compliance is poor, and the security is not high during "human-computer interaction", which affects the user's experience. With its advantages of strong adaptability, light weight, and good human-machine integration, the flexible drive method has a wide range of applications in the field of medical rehabilitation and services. With the development of biomechanics, the superiority of human skeletal-muscle structure has attracted more and more attent...

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Problems solved by technology

[0003] For example, a technical solution disclosed by China's invention "A Gel Driver" (application number: 201811530534.X): it can achieve 10% deformation at 400V voltage, 90Kpa output stress, and the response speed is less than 0.2s, but due to its The use of multi-layer metal electrode stacking structure leads to greater stiffness of the driver in the non-driving direction, poor overall compliance, and the output characteristics have not yet reached the level of biological muscles (20-40%, 0.1-0.3Mpa, 0.1s) , the overall power density is low

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