168 results about "Dielectric elastomers" patented technology

The invention relates to the technical field of bionic robots, and particularly discloses a dielectric elastomer-based decapterus maruadsi-imitated robotic fish and a preparation and control method thereof, the dielectric elastomer-based decapterus maruadsi-imitated robotic fish comprises a robotic fish head, a driving unit, a tail fin, a buoy, a balancing weight and a connecting piece; the driving unit is composed of two bending drivers and an electrode, the end, in a bending state, of each bending driver is fixedly connected with one end of the connecting piece to form a fish fin, and the non-bending parts of the bending drivers are bonded and fixed to form a fish body; the robotic fish head is fixedly connected with the other end of the connecting piece, and the tail fin is pasted and fixed at one end of the fish body; the buoy is fixed to the upper portion of the head of the robotic fish, and the balancing weight is fixed to the lower portion of the head of the robotic fish. The dielectric elastomer-based decapterus-imitating robotic fish provided by the invention adopts the dielectric elastomer to manufacture the bending driver, can better simulate fish swimming, adapts to a complex underwater environment, and effectively improves the working efficiency.

The invention discloses a zwitter-ion modified acrylate dielectric elastomer film and a preparation method thereof. Zwitter-ions can be selected from sulfobetaine methacrylate (SBMA), carboxyl betaine methacrylate (CBMA), sulfobetaine acrylamide (SBAA) and the like. The acrylate monomer can be butyl acrylate (BA), dodecyl acrylate (LA), isoamyl acrylate (EHA) and the like. Zwitterions (special compounds which simultaneously carry equal positive and negative charges on the same molecule and are electrically neutral on the whole) are copolymerized into an acrylate dielectric elastomer through photo-initiated free radical polymerization reaction, zwitterionic clusters uniformly distributed in the dielectric elastomer can construct traps for capturing high-energy electrons, the leakage current of the material is reduced, and the dielectric property of the material is improved. And the intrinsic breakdown field strength of the material is improved. In addition, the mutual attraction effect between dipole ions with positive and negative charges in the structure provides driving force for intrinsic self-repairing. And after being electrically and mechanically damaged, the material can be self-recovered, so that the service life of the material is prolonged.

The invention relates to a machine learning method of a dielectric elastomer film on-line modeling under equal biaxial prestretching. The method comprises the following steps of: 1, acquiring an experimental data set for generating input data of the physical information neural network in the step 2 and the Kolmogorov-Arnold network in the step 3; 2, building a physical information neural network; the prediction module is used for predicting a mapping relation between invariants I1 and I2 and a strain energy function, and is used for optimization training of the Kolmogorov-Arnold network in the step 3; step 3, constructing a Kolmogorov-Arnold network, and carrying out the construction of the network; an explicit expression used for predicting invariants I1 and I2 and a strain energy function, and generating a constitutive model capable of reflecting the nonlinear behavior of the dielectric elastomer film; and step 4, carrying out joint training of a physical information neural network and a Kolmogorov-Arnold network on the basis of an experimental data set of voltage and stretch ratio obtained by applying voltage after equal biaxial pre-stretching of the dielectric elastomer film obtained in the step 1, and finding out optimal network parameters. According to the invention, the mechanical-electric coupling characteristic of the dielectric elastomer material can be reflected.

The invention relates to a flame-retardant polyurethane dielectric elastomer material, a preparation method and a fireproof dielectric driver. The flame-retardant polyurethane dielectric elastomer material is a segmented copolymer composed of a soft segment and a hard segment, and a reactive flame retardant is introduced into part of the hard segment on a main chain; the soft segment is polyether or polyacrylate containing hydroxyl functional groups, and the molecular weight of the soft segment is 50000-50000. According to the dielectric elastomer material, a flame retardant structure is copolymerized and introduced into a polyurethane hard segment, so that the problem of material hardening caused by introduction of a rigid flame retardant structure is effectively solved.

The invention relates to a dielectric elastomer-piezoelectric composite multi-source energy collection device for a non-intrusive electric field sensor, and belongs to the technical field of power system self-powered sensors. The device comprises a base, a dielectric elastomer unit, a piezoelectric cantilever beam, a mass block and a rectification energy storage circuit. The dielectric elastomer deforms under the action of an alternating electric field, the piezoelectric cantilever beam is driven through coupling to generate mechanical vibration, and the piezoelectric layer further converts mechanical energy into electric energy to be output. The resonant frequency of the system is adjusted by setting the mass block, so that the resonant frequency is matched with the external electric field frequency or the environment vibration frequency, and the energy conversion efficiency is optimized. The device can collect external electric field energy in a non-intrusive mode and provide a stable power supply required by a low-power-consumption sensor. The device is compact in structure, high in sensitivity and suitable for electric field monitoring in scenes such as ultrahigh-voltage power transmission lines and transformer substations, and provides reliable energy support for self-powered sensors of power equipment.

The invention relates to the technical field of soft robots, and particularly discloses an eel-imitating robotic fish based on dielectric elastomers, which comprises five connected pipe joint type dielectric elastomer drivers, a head, a tail handle and a tail fin, the head part is connected with one end of the pipe joint type dielectric elastomer driver, the tail handle is connected with the other end of the pipe joint type dielectric elastomer driver, and the tail fin is connected with the tail handle; the pipe joint type dielectric elastomer driver is composed of circular frames, a central elastic plate, dielectric elastomers and electrodes, the circular frames are divided into a first circular frame and a second circular frame and are of a male and female structure, and the central elastic plate is used for connecting the first circular frame and the second circular frame and is connected with the dielectric elastomers. And the dielectric elastomer is wound on the circular frame I and the circular frame II. The eel-imitating robotic fish based on the dielectric elastomer shows remarkable advantages in the aspects of propelling performance, flexibility, noise control and the like, and is suitable for various application scenes such as seabed detection, maintenance inspection and the like.

The present invention provides a high dielectric constant, low modulus, room temperature self-healing dielectric elastomer, comprising the following components: a hydroxyl-terminated polysiloxane, an organic compound containing a disulfide bond, and a silane coupling agent; the hydroxyl-terminated polysiloxane has the following structural formula I: wherein R1 and R2 are independently selected from C 1‑12 Alkyl, C 6‑24 Aryl, C 6‑24 Aryl-substituted C 1‑12 Alkyl, at least one C 1‑12 Alkyl substituted C 6‑24 Aryl; R3 and R4 are independently selected from C 1‑12 Alkyl; each R5 is the same or different and is independently selected from C 0‑12 Alkylene; n is any integer between 4 and 100. The present invention discloses a high-dielectric-constant, low-modulus, room-temperature self-healing dielectric elastomer and a method for preparing the same. The resulting dielectric elastomer has a high dielectric constant, room-temperature self-healing properties, and a low modulus. The preparation method is simple, requires no catalyst or solvent, and is easily controllable, low-cost, and readily industrially scalable. The elastomer is suitable for use in various fields, including artificial muscles, sensors, supercapacitors, polymer generators, and tactile feedback devices.

The invention discloses a high-performance dielectric elastomer film, a driver capable of being driven at low voltage and a preparation method of the driver. According to the preparation method of the high-performance dielectric elastomer film, customization and balance of mechanical properties and electrical properties of a dielectric elastomer are realized by regulating and controlling the proportion of a chemical cross-linking agent, a high-polarity physical cross-linking agent and a monomer; according to the preparation method of the driver capable of being driven at the low voltage, a dielectric elastomer film and a flexible electrode are stacked through an optimized dry stacking method, the dielectric elastomer driver of a multilayer structure is constructed, and the driver has excellent performance under the low driving voltage. The preparation method has the potential of large-batch and large-scale production, and the prepared dielectric elastomer film has low Young modulus and enhanced strain hardening effect, can avoid electromechanical coupling instability, has high dielectric constant, has large-area strain in a low electric field, and can be used for preparing a dielectric elastomer film. The resulting dielectric elastomer driver can have a blocking force of 0.8 N and an energy density of 80 J / kg at a voltage of 500 V.

The invention relates to the technical field of space non-cooperative target capturing and racemization, in particular to a space non-cooperative target variable-stiffness racemization device based on a dielectric elastomer and application of the space non-cooperative target variable-stiffness racemization device, and the space non-cooperative target variable-stiffness racemization device is suitable for attitude control and racemization operation of space tumbling satellites, space debris and other non-cooperative targets. The supporting assembly comprises a middle shaft, a middle shaft servo motor and a fixing base, the middle shaft vertically penetrates through the fixing base, and the middle shaft servo motor is in transmission connection with the middle shaft and used for driving the middle shaft to rotate around the axis of the middle shaft or driving the middle shaft to pitch in the vertical direction so as to adjust the space posture of the arm rotation eliminating body. Compared with the prior art, the racemization device is high in racemization precision, good in operation flexibility, free of fuel consumption and suitable for long-term space tasks.

The present invention relates to the field of smart materials technology, and more particularly to a non-sequential three-state rocking mechanism driven by an electroactive material. The mechanism comprises a rotational angle actuator, a boundary controller, and a diamond-shaped driver. The boundary actuator comprises a connecting frame, a flexible beam, and a guide block. The connecting frame comprises a cross-shaped transverse frame and a vertical frame, with the guide block suspended from the transverse frame by a flexible beam. The rotational angle actuator comprises a semi-enclosed frame structure and a pure shear dielectric elastomer film, connected to the guide block via the pure shear dielectric elastomer film. The present invention converts the planar deformation of the dielectric elastomer material into bending deformation of the mechanism. By adjusting the voltage on the pure shear dielectric elastomer film, steady-state control of different rotational angles is achieved, allowing the mechanism to switch between three states under voltage drive.

The present invention relates to the technical field of mechanical manufacturing, and provides a device for manufacturing a dielectric elastomer, which includes a manufacturing platform, a film forming device, an electrode printing device, and a transfer device. The transfer device includes a bracket, a first transfer mechanism, a second transfer mechanism, and a third transfer mechanism. The second transfer mechanism moves in the horizontal X direction through the first transfer mechanism. The electrode printing device is installed on the second transfer mechanism and moves in the vertical Z direction through the second transfer mechanism. And the bracket or the film forming device moves in the horizontal Y direction through the third transfer mechanism. The film forming device forms an elastic film structure on its surface; the electrode printing device prints electrode patterns on the film structure, and then, according to the actual number of film layers of the dielectric elastomer, repeats the above two steps. For the device for manufacturing a dielectric elastomer of the present application, the entire manufacturing process is simple and the structure is also simpler.

The invention discloses a dielectric elastomer waist tracking system, a control method, electronic equipment and a storage medium, and belongs to the technical field of dielectric elastomer control. The dielectric elastomer waist chasing system comprises a control chip, a thin film pressure sensor, a dielectric elastomer and two layers of flexible electrodes. The dielectric elastomer is positioned between the two layers of flexible electrodes; the thin film pressure sensor is overlaid on the outer side of any layer of flexible electrode; the control chip is respectively connected with the thin film pressure sensor and the two layers of flexible electrodes; the thin film pressure sensor is used for acquiring real-time pressure data and sending the real-time pressure data to the control chip, and the control chip is used for controlling target voltage to be generated between the two layers of flexible electrodes based on the real-time pressure data; the dielectric elastomer is used for generating deformation based on the target voltage. According to the dielectric elastomer waist chasing system, the problem that the attaching and supporting effect of a traditional seat waist support is poor is solved.

The application provides a preparation method of a polyacrylate composite dielectric elastomer, comprising the following steps: step 1, preparing a polyacrylate dielectric elastomer matrix prepolymer solution; step 2, synthesizing perovskite quantum dot powder with fluorescent properties; step 3, blending the polyacrylate dielectric elastomer matrix prepolymer solution with a perovskite quantum dot solution to obtain a perovskite-doped polyacrylate dielectric elastomer prepolymer solution; and step 4, dropping the perovskite-doped polyacrylate dielectric elastomer prepolymer solution onto a film preparation mold, and preparing a polyacrylate composite dielectric elastomer containing a multilayer perovskite-doped polyacrylate dielectric elastomer film through a wet lamination process under the condition of ultraviolet light irradiation. The polyacrylate composite dielectric elastomer prepared by the preparation method of the polyacrylate composite dielectric elastomer has excellent electrochromic properties and fluorescent properties.

The invention discloses a bendable plane type soft pump driven by a dielectric elastomer. The pump body comprises a pumping sealing layer, a dielectric elastomer film, a negative pressure sealing layer, a one-way valve and a part of hose; the pumping sealing layer is provided with a fluid inlet and a fluid outlet, the one-way valve is connected with the fluid inlet and the fluid outlet through the hose, fluid flows to the fluid inlet through the one-way valve, flows to the fluid outlet through flow channels among a plurality of unit pumping cavities in the pumping sealing layer and flows out of the one-way valve, and the pumping sealing layer is bonded with the dielectric elastomer film through a bonding surface; the dielectric elastomer film is bonded with the negative pressure sealing layer through a bonding surface, one end of the negative pressure sealing layer is provided with an air exhaust hole, and the air exhaust hole is communicated with a plurality of unit negative pressure cavities on the negative pressure sealing layer through flow channels. The soft pump utilizes voltage to control compression of the dielectric elastomer film and realizes volume change of the pumping cavity under the action of negative pressure so as to pump fluid, the pumping function is kept when the soft pump is bent by utilizing the structural infinitesimal, and the soft pump is suitable for a driving device in a soft robot or wearable equipment.

The application discloses a bipolar group acrylate polymer-based dielectric elastomer material and a preparation method thereof, and belongs to the technical field of polymer synthesis. The method comprises the following steps: uniformly mixing hydroxybutyl acrylate and dichloromethane, adding organic acid and acylation catalyst, stirring and reacting, and obtaining a hydroxybutyl acrylate-based diester monomer after purification; then adding a crosslinking agent and a photoinitiator, uniformly mixing, and obtaining the bipolar group acrylate polymer-based dielectric elastomer material after solidification and crosslinking under ultraviolet light irradiation. The bipolar group acrylate polymer-based dielectric elastomer material is prepared by taking hydroxybutyl acrylate as a dielectric elastomer matrix, performing esterification reaction on the dielectric elastomer matrix with organic acid, and then adding a crosslinking agent to prepare a diester-based dielectric elastomer film. The bipolar group acrylate polymer-based dielectric elastomer material solves the problems of high elastic modulus and low dielectric constant, and improves the mechanical properties, driving performance and dielectric properties of the bipolar group acrylate polymer-based dielectric elastomer material.

The invention relates to the field of dielectric elastomers, in particular to a preparation method of a high-performance dielectric elastomer based on a multi-site small-molecule cross-linking agent. According to an existing dielectric elastomer, a double-site cross-linked network is mainly constructed by using a cross-linking agent with two cross-linking sites, but the design has some limitations in practical application, such as small driving deformation and strong driving field. In order to solve the problems, the existing dielectric elastomer is innovatively improved. On the basis of an original dielectric elastomer, a micromolecular crosslinking agent with three or more sites is introduced, so that a multi-site crosslinking network is constructed. By means of the improved design mode, large driving deformation can be achieved, and meanwhile the driving field intensity can be reduced. More possibilities are provided for the use of the dielectric elastomer in various industrial applications, and the practicability and efficiency of the dielectric elastomer are also improved.

The invention relates to a dielectric elastomer and a preparation method and application thereof, and relates to the field of dielectric elastomers, the dielectric elastomer comprises a first urethane acrylate layer, and a cyano group is connected to a urethane acrylate main chain in the first urethane acrylate layer; and a benzene ring is connected to a polyurethane acrylate main chain in the second polyurethane acrylate layer. The dielectric elastomer provided by the invention has a double-layer structure, cyano groups and benzene rings are respectively introduced to main chains of two layers of polyurethane acrylate, so that the photocurable dielectric elastomer with a'push-pull 'charge structure is formed, the dielectric elastomer is endowed with excellent dielectric property, the Young modulus is reduced, high strain under low-voltage driving is realized, and the dielectric elastomer has a wide application prospect. Therefore, the contradiction problem of force-electricity coupling balance of a traditional dielectric elastomer in a flexible driver is solved, and a new thought is provided for large-scale production of the high-performance dielectric elastomer.

The invention belongs to the technical field of flexible sensors, and particularly relates to a dielectric elastomer flexible sensor for distinguishing tension and compression deformation recognition and a preparation method thereof. The dielectric elastomer flexible sensor provided by the invention comprises n stretchable flexible dielectric material layer groups, m stretchable electrode layers and m electrodes, any one stretchable flexible dielectric material layer group comprises at least one stretchable flexible dielectric material layer which is arranged in a stacked mode. A stretchable electrode layer is arranged between any two adjacent stretchable flexible dielectric material layer groups and on the outward surface of the outermost two stretchable flexible dielectric material layer groups; and one stretchable electrode layer is in contact with one electrode. The problems that electric signal output of an existing flexible sensor under the two effects of normal pressure during pressing and axial strain during stretching is very similar and difficult to distinguish directly, post-processing increases complexity, and an integrated sensor is large in manufacturing difficulty and high in cost are solved.

The invention discloses a wireless energy supply and control system of a dielectric elastomer. The wireless energy supply and control system of the dielectric elastomer comprises a DEA body; the wireless receiving circuit is arranged on the DEA body and is connected with the DEA body; the wireless transmitting circuit is used for transmitting radio to the wireless receiving circuit; wherein the wireless receiving circuit is used for the radio, and generates a square wave voltage with the amplitude of 4kV according to the radio, so as to drive the DEA body to act. According to the wireless driving scheme of the dielectric elastomer actuator, the designed circuit is small in size and light in weight, the high voltage of 4 kilovolts or above can be generated only with low power consumption, the wireless driving scheme can be widely applied to the power supply scheme design of a DE driving robot to achieve cable-free driving, then the movement range of the robot is widened, and the application range of the robot is widened. The application scene of the robot is expanded.

The application discloses a method for analyzing nonlinear dynamics and stress wave propagation characteristics of a dielectric elastomer actuator structure. The method considers the strain hardening effect and viscoelasticity of the dielectric elastomer material, establishes a dynamic model of the dielectric elastomer actuator structure from linear damping assumption and considering material viscoelasticity respectively, calculates the equilibrium deformation and inherent frequency of micro-vibration near the equilibrium state, studies the nonlinear dynamic response of the structure under alternating voltage load, explores the influence law of the constitutive parameters on the nonlinear dynamic response, and analyzes the internal relationship between material viscoelasticity and structure vibration damping. In addition, considering compressibility, the stress wave propagation characteristics in the finite deformation state are studied, the separation phenomenon of transverse wave and longitudinal wave is analyzed, and the influence of the constitutive parameters and strain hardening effect on the stress wave propagation characteristics is explored. The application can provide a theoretical basis for the fine design of the dielectric elastomer actuator and the control of stress wave propagation by adjusting the electric field.

This invention discloses an underwater transparent flexible actuation device, belonging to the field of underwater soft robot technology. The device includes a flexible support frame, a composite actuation film, and conductive connectors. The flexible support frame is a monolithic polymer film with multiple cantilevered support ribs evenly distributed outwards from the center. The composite actuation film is attached and fixed to the flexible support frame and includes two equiaxed pre-stretched dielectric elastomer film layers and a flexible conductive layer sandwiched between them. The two dielectric elastomer film layers self-encapsulate the flexible conductive layer, which is connected to an external power source via conductive connectors. Both the flexible support frame and the composite actuation film are made of transparent materials. By controlling the on / off state of the flexible conductive layer, the flexible support frame is driven to expand and contract to generate buoyancy thrust. This invention solves the problems of complex encapsulation and opacity inherent in traditional DE actuator technology.

The invention provides a high-voltage-resistant diaphragm and a preparation method thereof, an electrochemical device and the technical field of design of electrochemical elements, the diaphragm comprises polyolefin and a base film formed by dielectric elastomer particles dispersed in the polyolefin, the voltage resistance of the base film is not lower than 250V / mu m, while the voltage resistance of a current micron-sized common diaphragm is generally lower than 200V / mu m; wherein the diaphragm containing the dielectric elastomer particles can generate elastic deformation under the instantaneous voltage not lower than 500V. The invention also provides a preparation method of the diaphragm with high voltage resistance and an electrochemical device using the diaphragm. According to the high-voltage-resistant diaphragm, the preparation method thereof and the electrochemical device provided by the invention, the defect that a lithium battery diaphragm in the prior art is easy to break down under instantaneous high voltage is overcome.

A Dielectric Elastomer Actuator has first and second DEA electrodes coupled to electroactive polymer at least one of the DEA electrodes includes a plurality of boundary electrodes configured to detect a localised change in resistivity on the at least one DEA electrode, or detect a localised change in capacitance between the DEA electrodes.

Disclosed herein is a buckling actuator, comprising: a first electrode; a second electrode; and a dielectric elastomer material film having a first surface and a second surface sandwiched between the first and second electrodes, wherein the material is formed by random block copolymerization of: a polymer material including silicon or nitrogen atoms having two or more acrylate or vinyl end groups, and a polar polymer material having two or more acrylate or vinyl end groups. Also disclosed herein is a method of forming the dielectric elastomer material.

The present invention relates to a sound-generating device, comprising a base having a cavity and a plurality of cantilever diaphragms fixed on the base, each cantilever diaphragm comprising a fixed end fixed to the base and a free end extending from the fixed end to be suspended above the cavity, the free end comprising a first surface and a second surface arranged opposite to each other; the free end is spaced apart from the base or other free ends to form a gap, and the sound-generating device further comprises a first dielectric elastomer driver arranged on the first surface, a second dielectric elastomer driver arranged on the second surface, and a flexible connector fixed to the periphery of the gap to completely cover the gap. The present invention utilizes the dielectric elastomer drivers on the upper and lower sides to act on the cantilever diaphragms together, which can improve the linearity of the sound-generating device; and since there is no complex structure such as a voice coil and a magnetic circuit system, a thinner sound-generating device can be obtained.

The invention discloses a micro-pressure sensing electrode and a sensing method, belonging to the technical field of pressure sensing, comprising a bottom plate and a pressure-receiving plate, wherein the pressure-receiving plate is arranged on the upper side of the bottom plate, an acrylic insulating shell is arranged at one end of the pressure-receiving plate and the bottom plate close to each other, a pressure-sensing mechanism is arranged between the two acrylic insulating shells, and the pressure-sensing mechanism is used for pressure detection; the pressure-sensing mechanism comprises an upper PCB board, a lower PCB board and a dielectric elastomer, wherein the upper PCB board and the lower PCB board are respectively installed in the two acrylic insulating shells, and the upper PCB board is located on the upper side of the lower PCB board, and the dielectric elastomer is arranged between the upper PCB board and the lower PCB board; in the invention, the dielectric elastomer is composed of a polymer material, and while ensuring elasticity, its supporting force is smaller than that of a spring, thereby replacing the setting of a traditional elastic member using a spring, and in addition, the force is measured by detecting the capacitance change of the dielectric elastomer, and the force is more sensitive, so that the sensing electrode can detect micro-pressure and increase the detection accuracy.

The utility model discloses a wave energy collecting device for an open sea. Comprising a buoy shell, a mass block, a dielectric elastomer capacitor and an electric energy collection circuit, a rigid supporting disc is arranged on the upper middle portion of an inner cavity of the buoy shell, and the dielectric elastomer capacitor is fixed to a circular mounting hole formed in the middle of the rigid supporting disc. The dielectric elastomer capacitor comprises a dielectric elastomer film and flexible electrodes arranged on the two sides of the surface of the dielectric elastomer film. A first mass block and a second mass block are arranged in the middle of the dielectric elastomer capacitor. The first mass block is connected with the upper end face of the dielectric elastomer capacitor and the top of a cavity of the buoy shell through a first spring. The second mass block is connected with the lower end surface of the dielectric elastomer capacitor and a rigid support rod below the dielectric elastomer capacitor through a second spring; the electric energy collection circuit is connected with the flexible electrodes on the two sides of the surface of the dielectric elastomer film. The device is simple in structure and can be suitable for collection of open sea wave energy to a certain extent.

The invention discloses a dielectric elastomer actuator control method based on a fractional order creep hysteresis model, and relates to the field of intelligent material driving control. The method comprises the following steps: constructing a fractional order creep hysteresis model; creep inverse compensation is carried out on the fractional order creep hysteresis model through an inverse compensator; constructing a second-order system state equation of the dielectric elastomer actuator, and defining a tracking error of the dielectric elastomer actuator based on the second-order system state equation and the expected trajectory of the dielectric elastomer actuator; taking convergence of tracking errors in a preset performance boundary as a constraint condition, approaching a nonlinear function in a second-order system state equation of the dielectric elastomer driver by using a radial basis function neural network, and recursively designing a temporary control law and an adaptive law through a backstepping method; and extracting an actual control signal of the dielectric elastomer actuator through a hysteresis implicit inverse algorithm based on a temporary control law and an adaptive law of a backstepping method recursion design. The method can improve the control precision of the dielectric elastomer actuator.

The invention belongs to the technical field of design of vibration driving motion devices, and particularly relates to a dielectric elastomer vibration driving motion device and a manufacturing method thereof. External asymmetry is not introduced to the dielectric elastomer vibration driving motion device, and the dielectric elastomer vibration driving motion device is manufactured at the cost of sacrificing the maximum motion speed. The dielectric elastomer vibration driving motion device has the capability of bidirectional motion under sine voltage loading, and in addition, due to the fact that a different-direction friction environment does not need to be constructed, the dielectric elastomer vibration driving motion device is relatively easy to machine and manufacture, small in friction coefficient and high in load capacity, and a bottom face supporting form does not need to be specially designed.

This invention discloses a variable stiffness lower limb exoskeleton robot based on a dielectric elastomer. The exoskeleton robot includes a lumbar support beam, two hip joint modules, two knee joint modules, and two ankle joint modules. A hip joint module is located at each end of the lumbar support beam. The lower ends of the hip joint modules are connected to the knee joint modules via hip joint connectors, and the lower ends of the knee joint modules are connected to the ankle joint modules via calf adjustment plates. This invention utilizes a novel driving principle based on dielectric elastomers, which are lightweight, have high energy density, and fast response speed, thus improving the exoskeleton robot's mobility. Based on the motion mechanism of human lower limb joints, the functions of each joint in the lower limb exoskeleton robot are optimized, enhancing its motion assistance performance. This invention can be well applied to lower limb medical rehabilitation, assisting hemiplegic patients in completing walking training, and has significant practical value.