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题名: 介电型EAP驱动的转动关节研究
其他题名: Research on Dielectric EAP-driven Rotational Joint
作者: 杨斌 ; 王化明 ; 吴孟
作者部门: 机器人学研究室
关键词: 介电型电活性聚合物 ; 驱动器 ; 转动关节 ; 爬行机器人
刊名: 压电与声光
ISSN号: 1004-2474
出版日期: 2012
卷号: 34, 期号:4, 页码:541-544
收录类别: CSCD
产权排序: 2
摘要: 基于介电型电活性聚合物(EAP)的优点,设计、实现了该材料驱动的转动关节。根据介电型EAP的变形原理设计、制作了圆柱形驱动器,其输出最大位移约为11mm,伸长应变达到33.8%,并对输出力-位移特性进行测试。基于该型驱动器实现了转动关节,转角约为±13°,堵转力矩为19.6mN.m,将转动关节应用于爬行机器人,并对试验结果进行分析。
英文摘要: A rotational joint has been designed and fabricated by making use of the advantages of the dielectric electro-active polymer(EAP) material. On the basis of dielectric EAP’s deformation theory, a cylindrical actuator has been designed and manufactured. The maximum displacement of 11mm has been attained and the elongation strain of active area has been up to 33.8%. Also, the actuator’s output force’ displacement characteristics have also been tested. The rotational joint driven by this type of actuator can achieve the rotation angle of about±13°,and the torque of 19.6mN•m. The rotational joint has been used to a crawling robot, and the experiment result has been analyzed.
语种: 中文
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10614
Appears in Collections:机器人学研究室_期刊论文

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