Variable stiffness dielectric elastomer actuator based on magnetorheological elastomer

Abstract

The invention provides a variable stiffness dielectric elastomer actuator based on a magnetorheological elastomer. The variable stiffness dielectric elastomer actuator comprises a dielectric elastomeractuator of a minimum energy structure, a magnetorheological elastomer film and a flexible electrode. According to the magnetorheological elastomer film, the film has lower stiffness when an externalmagnetic field is absent, and the stiffness is increased by 10 times or more once the film is under the action of the external magnetic field, so that the stiffness of the dielectric elastomer actuator is changed. The dielectric elastomer actuator is of a strip-shaped multilayer minimum energy structure and comprises an acrylic frame, a first flexible electrode layer, an electroactive polymer layer, a second flexible electrode layer and a magnetorheological elastomer film from top to bottom. The variable stiffness dielectric elastomer actuator is simple in structure, convenient to manufactureand light, the stiffness of the actuator can be quickly changed under the action of the magnetic field, so that the actuator has strong load capacity and can be applied to the fields of industrial manipulators, satellite grabbing, space garbage recycling and the like.

Description

technical field [0001] The invention relates to the technical field of software drives, in particular to a novel variable stiffness dielectric elastomer driver based on magnetorheological elastomers. Background technique [0002] At present, robots are widely used in various industries of social production, mainly replacing people in simple and repetitive tasks, or working in dangerous environments that are difficult for people to reach. Traditional robots are basically made of hard materials, such as steel and plastic, and rely on motors, hydraulic systems, etc. to provide power. They have the advantages of high precision, large load, and easy control. Works in well-structured environments, has difficulty adapting to unstructured environments. Humans increasingly need a robot that can adapt to complex natural environments. Throughout nature, soft substances constitute the main structure of organisms. These soft structures enable organisms to adapt to non-structural enviro...

AI Technical Summary

Problems solved by technology

The dielectric elastomer actuator based on the minimum energy structure has the characteristics of simple fabrication and light weight. It is a common dielectric elastomer actuator. However, due to its very small stiffness, it is difficult to withstand large loads, which limits the practical application of the actuator.

[0004] To solve this problem, Swiss researchers used low-melting-point alloys to achieve variable stiffness. The method is to add a layer of low-melting-point alloys to the dielectric elastomer driver. The low-melting-point alloys are solid at room temperature and become liquid when heated slightly. , to control the stiffness by controlling the temperature, its biggest disadvantage is the slow response

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