基于液态金属电极卷制态介电弹性体驱动器

doi:10.16731/j.cnki.1671-3133.2025.03.010

现代制造工程 ›› 2025, Vol. 534 ›› Issue (3): 84-89.doi: 10.16731/j.cnki.1671-3133.2025.03.010

基于液态金属电极卷制态介电弹性体驱动器

赵福腾¹, 胡华², 赵维玮¹

1 武汉理工大学机电工程学院,武汉 430070;
2 运城学院物理与电子工程系,运城 044000

收稿日期:2024-09-02 发布日期:2025-03-28
作者简介:赵福腾,硕士研究生,主要研究方向为介电弹性体柔性电极。胡华,硕士研究生,主要研究方向为智能材料应用。赵维玮,副教授,主要研究方向为柔性传感器、热电转换。E-mail:zhaoft2022@163.com;huhua_2011@163.com;wzhao@ whut.edu.cn

Rolling dielectric elastomer actuator based on liquid metal electrode

ZHAO Futeng¹, HU Hua², ZHAO Weiwei¹

1 School of Mechanical and Electrical Engineering,Wuhan University of Technology,Wuhan 430070,China;
2 Department of Physics and Electronic Engineering,Yuncheng University,Yuncheng 044000,China

Received:2024-09-02 Published:2025-03-28

摘要/Abstract

摘要： 由于硅橡胶材质的卷制态介电弹性体存在高频共振,在软体机器人领域得到了广泛应用。液态金属的高导电性和极低刚度可以有效保证介电弹性体的共振响应。然而,目前使用液态金属制备的卷制态介电弹性体驱动器无法实现共振现象,因此,通过搅拌液态金属和刮涂方式获得一种氧化物与液态金属共存的柔性电极。分别将采用该工艺与传统碳基电极工艺制备的弹簧耦合卷制态介电弹性体驱动器的静态和动态性能进行了对比,表明了液态金属电极卷制态介电弹性体驱动器的可靠性和低刚度特性。基于此工艺和结构制作了一款鬓毛爬行机器人,结果表明,可以实现每秒1倍身长以上的爬行速度。

关键词: 液态金属, 电极, 介电弹性体, 软体机器人

Abstract: The rolling dielectric elastomer made of silicone rubber has been widely used in soft robot field because of its high frequency resonance. The high conductivity and very low stiffness of liquid metal can effectively guarantee the resonance response of dielectric elastomer.However,the current Rolling Dielectric Elastomer Actuator (RDEA) prepared with liquid metals cannot achieve the resonance phenomenon. It presents a method to obtain a flexible electrode with oxide and liquid metal co-existing by stirring liquid metal and scraping coating. Then,the static and dynamic properties of the Spring Rolling Dielectric Elastomer Actuator (SRDEA) prepared by the process and the traditional carbon-based electrode are compared,and the reliability and low stiffness characteristics are demonstrated. Finally,based on this process and structure,a bristle crawling robot was made,which can achieve a crawling speed of more than 1 times the body length per second.

Key words: liquid metal, electrodes, dielectric elastomer, soft robot

中图分类号:

TP242

赵福腾, 胡华, 赵维玮. 基于液态金属电极卷制态介电弹性体驱动器[J]. 现代制造工程, 2025, 534(3): 84-89.

ZHAO Futeng, HU Hua, ZHAO Weiwei. Rolling dielectric elastomer actuator based on liquid metal electrode[J]. Modern Manufacturing Engineering, 2025, 534(3): 84-89.

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基于液态金属电极卷制态介电弹性体驱动器

Rolling dielectric elastomer actuator based on liquid metal electrode

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