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介电型EAP驱动的转动关节研究
Alternative TitleResearch on Dielectric EAP-driven Rotational Joint
杨斌; 王化明; 吴孟
Department机器人学研究室
Source Publication压电与声光
ISSN1004-2474
2012
Volume34Issue:4Pages:541-544
Indexed ByCSCD
CSCD IDCSCD:4608975
Contribution Rank2
Keyword介电型电活性聚合物 驱动器 转动关节 爬行机器人
Abstract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。
Other AbstractA 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.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10614
Collection机器人学研究室
Affiliation1.南京航空航天大学机电学院
2.机器人学国家重点实验室
Recommended Citation
GB/T 7714
杨斌,王化明,吴孟. 介电型EAP驱动的转动关节研究[J]. 压电与声光,2012,34(4):541-544.
APA 杨斌,王化明,&吴孟.(2012).介电型EAP驱动的转动关节研究.压电与声光,34(4),541-544.
MLA 杨斌,et al."介电型EAP驱动的转动关节研究".压电与声光 34.4(2012):541-544.
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