基于介电弹性体的致动器:面向非专业人士的建模与控制综述

IF 2.2 3区 工程技术 Q2 ENGINEERING, MECHANICAL
Actuators Pub Date : 2024-04-17 DOI:10.3390/act13040151
Hector Medina, Carson Farmer, Isaac Liu
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引用次数: 0

摘要

软体机器人对研究人员和开发人员具有吸引力,因为它们具有在众多领域进行仿生应用的潜力,包括生物医学(如外科手术)、电影业(如动画)、生态学(如物理 "动画")、人机交互(如社交机器人)等。与刚体机器人相比,软体机器人具有明显的驱动优势,包括运动自由度大,具有模仿生物体的潜力。许多材料系统已被提出并用于软机器人应用,包括软致动器、传感器和发生器。本综述重点介绍基于介电弹性体(DE)的致动器,这是一种更通用的电活性聚合物(EAP)智能材料。基于 EAP 的软体机器人非常具有吸引力,原因有很多:(a) 能量可以有效地(并且容易地)以电的形式储存;(b) 能量和信息都可以通过电现象快速传输;(c) 使用电子手段进行计算非常方便。由于其潜力和优势,基于 DE 的致动器对多个领域的研究人员和开发人员都具有吸引力。本综述旨在:(1) 向非专业人员提供一份 "简单易懂 "的调查报告,介绍在实施基于 DE 的软致动器时需要考虑的最重要方面和挑战;(2) 强调当前与基于 DE 的软致动器系统的材料、控制和便携性相关的解决方案和挑战。首先,我们将介绍一些基本功能、应用和配置;然后,我们将回顾材料模型及其选择。然后,我们概述了材料的局限性和挑战,以及克服这些局限性的一些热机械化学处理方法。最后,我们概述了一些控制方案,包括现代技术,并建议使用可重写硬件实现更快、更自适应的控制。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Dielectric Elastomer-Based Actuators: A Modeling and Control Review for Non-Experts
Soft robotics are attractive to researchers and developers due to their potential for biomimicry applications across a myriad of fields, including biomedicine (e.g., surgery), the film industry (e.g., animatronics), ecology (e.g., physical ‘animats’), human–robot interactions (e.g., social robots), and others. In contrast to their rigid counterparts, soft robotics offer obvious actuation benefits, including their many degrees of freedom in motion and their potential to mimic living organisms. Many material systems have been proposed and used for soft robotic applications, involving soft actuators, sensors, and generators. This review focuses on dielectric elastomer (DE)-based actuators, which are more general electro-active polymer (EAP) smart materials. EAP-based soft robots are very attractive for various reasons: (a) energy can be efficiently (and readily) stored in electrical form; (b) both power and information can be transferred rapidly via electrical phenomena; (c) computations using electronic means are readily available. Due to their potential and benefits, DE-based actuators are attractive to researchers and developers from multiple fields. This review aims to (1) provide non-experts with an “easy-to-follow” survey of the most important aspects and challenges to consider when implementing DE-based soft actuators, and (2) emphasize current solutions and challenges related to the materials, controls, and portability of DE-based soft-actuator systems. First, we start with some fundamental functions, applications, and configurations; then, we review the material models and their selection. After, we outline material limitations and challenges along with some thermo-mechano-chemical treatments to overcome some of those limitations. Finally, we outline some of the control schemes, including modern techniques, and suggest using rewritable hardware for faster and more adaptive controls.
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来源期刊
Actuators
Actuators Mathematics-Control and Optimization
CiteScore
3.90
自引率
15.40%
发文量
315
审稿时长
11 weeks
期刊介绍: Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.
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