CN106992710B - A kind of parallel flexible driver and its component based on electroactive polymer - Google Patents
A kind of parallel flexible driver and its component based on electroactive polymer Download PDFInfo
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- CN106992710B CN106992710B CN201710390187.4A CN201710390187A CN106992710B CN 106992710 B CN106992710 B CN 106992710B CN 201710390187 A CN201710390187 A CN 201710390187A CN 106992710 B CN106992710 B CN 106992710B
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- 239000002905 metal composite material Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
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- 239000002322 conducting polymer Substances 0.000 claims description 5
- 229920001940 conductive polymer Polymers 0.000 claims description 5
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/0015—Driving devices, e.g. vibrators using only bending modes
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Abstract
The invention discloses a kind of parallel flexible driver and its component based on electroactive polymer.Parallel flexible driver includes that block form is distributed and in membranaceous multi-disc driving unit.One end of multi-disc driving unit converges to and a little forms pool side, and the other end is radial to scatter to form block form and scatter end side by side, so that the parallel flexible driver is integrally fan-shaped.Each driving unit includes that can generate at least a piece of actuator made of the electroactive polymer of bending deformation down using based on voltage effect.The actuator belonged in the same driving unit holds length identical from pool side to scattering, and initial bending degree is identical, and tiles in parallel on the membrane plane direction for be parallel to respective drive unit.The actuator belonged in different driving unit holds length identical from pool side to scattering, and initial bending degree is not identical.The present invention can be greatly facilitated electroactive polymer material in the popularization and use in bio-robot field.
Description
Technical field
The invention belongs to one of mechanical bionics field parallel flexible drivers, in particular to a kind of based on electroactive
The parallel flexible driver and its component of polymer.
Background technique
Bio-robot is searched in marine resources exploration, environmental monitoring, biology observation, archaeology salvaging, disaster search and rescue and military affairs
The fields such as rope scouting are with a wide range of applications and prospect, become one of scientific research and technology developmental research hot spot at present.
With the development of the subjects such as bionics, smart material and structure and control, using novel bionic material and bionical driving method by
Step becomes the Main Trends of The Development of bio-robot.Therefore, novel intelligent material is increasingly used in opening for bio-robot
Hair mainly includes marmem (SMA), piezoelectric ceramics (PZT), giant magnetostrictive thin film (GMF) and electroactive polymer
Material etc..Compared with the dilatation of other intellectual materials, electroactive polymer material generates bending deformation under voltage effect,
It is agitated with the forms of motion of biology, such as the swing of fish tail, fin, birds and insect etc., the bending fortune of reptile foot
It moves, it is quite similar, therefore there are greater advantages in bionical driving.
Electroactive polymer material usually constitutes sandwich composite construction by electrode-ion polymer-electrode, in extraneous 1-
Under the effect of 5V voltage, transport phenomena can occur for ion and water in amberplex, so that nearby water content is different for electrode two sides
It causes, can produce Centimeter Level bending large deformation so as to cause electroactive polymer material.It mainly includes two major classes type：A kind of material
Water environment or humidity can be directly worked in containing certain moisture for sandwich layer ionomer using amberplex in material
Air environment, such as ion polymer-metal composite material；Another kind of material intermediate ion polymer contains certain ionic liquid
Body can work in air environment, such as Bark gel driving material (BGA), carbon driving material, conducting polymer driving material
(CPA), conductive mutually interspersed polymer network drives material (Conducting Interpenetrated Polymer
Network) etc..
Currently, influencing electroactive polymer material as the bottleneck problem that bionical driver uses is the electroactive polymerization of monolithic
Object material driving force is too small.Existing research proposition improves driving force by multi-disc electroactive polymer material parallel drive, main
It to include two classes：A kind of parallel-connection structure can only be superimposed the deformation of driving material cell in one direction, generate whole straight line and drive
Dynamic effect cannot be directly used to aforementioned bionical driving；Another kind of parallel-connection structure parallel distributed more sheets in material face, it is single
The driving force of plane product still cannot get a promotion.Therefore, electroactive polymer material answering in bionical field of drivers is pushed
With key is to promote the whole driveability of electroactive polymer driver.
Summary of the invention
It is small as driver driving force in order to solve monolithic electroactive polymer material, and existing parallel-connection structure cannot be effective
Promote the bending driveability of driver --- the technical issues of moment of flexure, the present invention propose it is a kind of based on electroactive polymer and
Join flexible actuator and its component, the moment of flexure of driver can be substantially improved.
Solution of the invention is：A kind of parallel flexible driver based on electroactive polymer, including block form point
Cloth and be in membranaceous multi-disc driving unit；One end of multi-disc driving unit converges to and a little forms pool side, other end radiation
Shape scatters side by side to be formed block form and scatters end, so that the parallel flexible driver is integrally fan-shaped；Each driving unit includes
At least a piece of actuator made of the electroactive polymer of bending deformation can be generated down using based on voltage effect；Belong to same
Actuator in a driving unit holds length identical from pool side to scattering, and initial bending degree is identical, and is being parallel to phase
It answers and tiles in parallel on the membrane plane direction of driving unit；The actuator belonged in different driving unit holds length from pool side to scattering
Spend identical, and initial bending degree is not identical.
As a further improvement of the foregoing solution, the electroactive polymer be ion polymer-metal composite material, bar
Gram gel driving material, carbon driving material, conducting polymer driving material, in conductive mutually interspersed polymer network driving material
At least one electroactive polymer.
As a further improvement of the foregoing solution, the initial bending degree of actuator is by the driving by giving straight no deformation
Part applies the different degrees of bending deformation that different amplitude voltages generate and determines.
As a further improvement of the foregoing solution, the shape of actuator is the rectangle strip film of equal thickness, or is cut to become
The strip film of face and/or Varying-thickness.
As a further improvement of the foregoing solution, the position of driving unit is in symmetrical at equal intervals, or is in non-homogeneous
Every and/or asymmetric distribution.
As a further improvement of the foregoing solution, belong to the actuator in the same driving unit, between each other using not
Similar shape cooperation driving.
As a further improvement of the foregoing solution, the shape of actuator is manufactured by the technique of solution film casting.
As a further improvement of the foregoing solution, the different initial bending degree of actuator are by carrying out hot place to actuator
Reason is realized.
As a further improvement of the foregoing solution, the parallel flexible driver further includes：
Stationary fixture one is fixed on the pool side, realizes these actuators in the fixation of the pool side；
Stationary fixture two is fixed on the end of scattering, realizes these actuators in the fixation at the end of scattering.
The present invention also provides a kind of parallel flexible actuator assembly based on electroactive polymer comprising multiple above-mentioned
It anticipates a kind of parallel flexible driver based on electroactive polymer；All parallel flexible drivers drive perpendicular to parallel flexible
It adds up on the fan-shaped surface direction of device and both ends is aligned, all pool sides and all end linear layouts respectively of scattering；Perpendicular to
On the fan-shaped surface direction of parallel flexible driver, the actuator of same arrangement holds length identical and initial curved from pool side to scattering
Qu Chengdu is identical, and the actuators of difference arrangement hold length identical and initial bending degree is not identical from pool side to scattering.
As a further improvement of the foregoing solution, following one of make is used to assemble：
Make one：It is first that length is identical and the identical multi-disc actuator of initial bending degree is parallel in the same plane
Tiling and both ends alignment, are assembled into a piece of driving unit, and thus mode assembles multi-disc driving unit；Multi-disc is driven again single
One end of member converges to and a little forms pool side, and the other end is radial to scatter to form block form and scatter end side by side, is assembled into one
Parallel flexible driver, thus mode assembles multiple parallel flexible drivers, wherein those belong in different driving unit
Actuator holds length identical from pool side to scattering, and initial bending degree is not identical；Finally by multiple parallel flexible drivers
It adds up on the fan-shaped surface direction perpendicular to corresponding parallel flexible driver and both ends is aligned, all pool sides and all ends of scattering
It is linearly laid out respectively, assembles a parallel flexible actuator assembly, wherein in the sector perpendicular to parallel flexible driver
On the direction of face, the actuator of same arrangement holds length identical and initial bending degree is identical, difference arrangement from pool side to scattering
Actuator hold length identical and initial bending degree is not identical from pool side to scattering；
Make two：It is first that length is identical and the identical multi-disc actuator of initial bending degree is parallel in the same plane
Tiling and both ends alignment, are assembled into a piece of driving unit, and thus mode assembles multi-disc driving unit；Multi-disc is driven again single
Member tiling and both ends alignment in parallel in the same plane, forming a piece of is in distributed component, and thus mode assembles multi-disc point
Cloth component, wherein and initial bending degree identical with the actuator length in a piece of distributed component is identical；It finally will be more
One end of piece distributed component converges to and a little forms pool side, and the other end is radial to scatter to form block form and scatter end side by side,
It is assembled into parallel flexible actuator assembly, wherein the actuator length in the distributed component of different pieces is identical and initial bending
Degree is not identical.
Make three：In conjunction with above two make Hybrid assembling.
Parallel flexible driver based on electroactive polymer of the invention, is mainly used in the Biomimetic Fish of underwater fish
Fin and fish tail swing driving, flapping flight agitate and the big moment of flexure driving occasions such as climbing robot leg curvature driving, can
Electroactive polymer material is greatly facilitated in the popularization and use in bio-robot field.
Detailed description of the invention
Fig. 1 is the three dimensional structure diagram of parallel flexible driver of the embodiment of the present invention 1 based on electroactive polymer.
Fig. 2 is the structure chart for the driving unit that parallel flexible driver uses in Fig. 1.
Fig. 3 is the type map for the actuator that driving unit uses in Fig. 1.
Fig. 4 is that parallel flexible driver is on perpendicular to membrane plane direction in Fig. 1, the possible distribution shape of different driving unit
Formula figure, wherein left area be it is symmetrical at equal intervals, intermediate region be changing distance it is symmetrical, right area be it is asymmetric
Distribution.
Fig. 5 is the state change map of parallel flexible driver in Fig. 1, wherein it is initial when being zero that region (b) is on-load voltage
The schematic forms of integrally bending deformation when shape, region (a) and region (c) are respectively left and right side load forward voltage.
Fig. 6 is that the three-dimensional structure of parallel flexible actuator assembly of the embodiment of the present invention 2 based on electroactive polymer is illustrated
Figure.
Fig. 7 is the cross-sectional distribution figure of the parallel flexible actuator assembly of Fig. 6.
Fig. 8 is the state change map of a portion driving unit of parallel flexible actuator assembly in Fig. 6, wherein area
Domain (a) is original shape, and region (b) and region (c) are respectively that different units deform when loading identical and opposed polarity voltage
Schematic forms can generate torsional bending deformation when loading different voltages.
Fig. 9 is the section constitution schematic diagram of array parallel connection flexure type driver, and region (a) is multiple fan-shaped member parallels
The section for the composition that tiles；Region (b) is multiple distributed components in the section that membrane plane vertical direction parallel connection superposition is constituted；Region
(c) section constituted for aforementioned two kinds of structures mode Hybrid assembling.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
A kind of parallel flexible driver based on electroactive polymer proposed by the present invention, primarily to overcoming electroactive
The bottleneck that polymer actuator driving force is small problem, Biomimetic Fish Fin and fish tail swing applied to underwater fish drive, flutter
Wing flight agitate and the big moment of flexure driving occasions such as climbing robot leg curvature driving.This parallel connection flexure type driver is applicable in
The lower various membranaceous electroactive polymer materials for generating bending deformation are acted in voltage, main includes being suitable for what water environment used
Bark gel used in ion polymer-metal composite material (IPMC) and air drive material (BGA), carbon driving material,
Conducting polymer drives material (CPA), conductive mutually interspersed polymer network to drive material (Conducting
Interpenetrated Polymer Network) etc., mainly by pool side stationary fixture, diverging end stationary fixture and not
Electroactive polymer material with bending degree forms.
Embodiment 1
Referring to Fig. 1, the parallel flexible driver based on electroactive polymer of the present embodiment 1 mainly includes three parts：
In the membranaceous stationary fixture 22 of stationary fixture one 1, one of multiple sheet driving units 2, one.One end of multi-disc driving unit 2
It converges to and a little forms pool side, the other end is radial to scatter to form block form and scatter end side by side, so that parallel flexible drive
Dynamic device is integrally fan-shaped.
Incorporated by reference to Fig. 2, each driving unit 2 includes that can generate the electroactive of bending deformation down using based on voltage effect
Multi-disc actuator 14 made of polymer.Actuator 14 is hereinafter also referred to as electroactive polymer unit.It is described electroactive poly-
Conjunction object is ion polymer-metal composite material, Bark gel drives material, carbon drives material, conducting polymer drives material,
At least one of conductive mutually interspersed polymer network driving material electroactive polymer.
These actuators 14 belonged in the same driving unit 2 hold length identical from pool side to scattering, and initial curved
Qu Chengdu is identical, and tiles in parallel on the membrane plane direction for be parallel to respective drive unit 2.Certainly, each driving unit 2
At least a piece of actuator 14 can be used.Belong to the actuator 14 in the same driving unit 2, it between each other can be using difference
Shape cooperation driving.
14 shape of actuator can be the rectangle strip film of equal thickness, or be variable cross-section and/or the strip film of Varying-thickness, such as
Shown in Fig. 3, strip electroactive polymer material as needed be cut into shown electroactive polymer material of different shapes 10,
11、12、13。
Therefore, on perpendicular to membrane plane direction, in addition to rectangle, the feasible cross sectional shape of driving unit 2 and thickness shape
Shape is as shown in Figure 3；On being parallel to membrane plane direction, multiple driving unit shapes are different, form a kind of distribution of cooperation driving
Shape, as shown in Figure 2.
The position of driving unit 2 can be in symmetrical at equal intervals, or be in non-uniform spacing and/or asymmetric distribution, such as Fig. 4
It is shown, on perpendicular to membrane plane direction, the possible distribution form figure of different driving unit, wherein left area is at equal intervals
Symmetrical, intermediate region is that changing distance is symmetrical, and right area is asymmetric distribution.
The initial bending degree of actuator 14 is produced by applying different amplitude voltages by the actuator 14 to straight no deformation
Raw different degrees of bending deformation determines.The shape of actuator 14 is manufactured by the technique of solution film casting, and different initial curved
Qu Chengdu is by carrying out heat treatment acquisition to actuator 14.
The parallel flexible driver of the present embodiment can generate the bending deformation driving of big moment of flexure under voltage effect.It is fixed
Fixture 1 is fixed on the pool side, realizes these driving units 2 in the fixation of the pool side.Stationary fixture 23 is fixed on
The end of scattering realizes these driving units 2 in the fixation at the end of scattering.Stationary fixture 1 is in shape preferably using single
Clip, driving unit 2 preferably use more clips in shape, which type of certain stationary fixture 1 and stationary fixture 23 use
Shape, form are all inessential, and important is fix these electroactive polymer units.In other embodiments, may be used
With these electroactive polymer units being fixed using seccotine, buckle etc.
Working principle combination Fig. 5 of parallel flexible driver can be seen that difference electroactive polymer list when not powered
First initial bending degree is different, and one end dissipates one end convergence.When power-up generates bending deformation, one side different materials cell surface
It does not contact, because without being on the other hand powered on the material cell bending degree of curved interior because friction generates driving force in-fighting
Increase, both ends Distance Shortened, material outside unit bending degree reduces, and both ends distance increases.The original shape of actuator unit
It being capable of total tune deformation process each unit shape with position, it is thus possible to generate excellent superposition driving effect, generate big curved
Square.
The parallel flexible driver of the present embodiment is in construction, first by length is identical and the identical multi-disc of initial bending degree
Actuator 14 in the same plane in parallel tiling and both ends be aligned, be assembled into a piece of driving unit 2, and thus mode assemble it is more
Piece driving unit 2；One end of multi-disc driving unit 2 is converged to again and a little forms pool side, the other end is radial to scatter side by side
It forms block form to scatter end, is assembled into a parallel flexible driver, wherein those belong to the driving in different driving unit 2
Part 14 holds length identical from pool side to scattering, and initial bending degree is not identical.Thus mode can assemble multiple parallel connections
Flexible actuator.
Embodiment 2
Please refer to Fig. 6 and Fig. 7, unlike the first embodiment, in multiple embodiments 1 based on electroactive polymer and
Connection flexible actuator is assembled into the parallel flexible actuator assembly based on electroactive polymer.All parallel flexible drivers
It adds up on the fan-shaped surface direction perpendicular to parallel flexible driver and both ends is aligned, all pool sides and all end difference of scattering
Linearly layout；On the fan-shaped surface direction perpendicular to parallel flexible driver, the actuator 14 of same arrangement from pool side to
Scatter and hold length identical and initial bending degree is identical, the actuators 14 of difference arrangement hold length identical from pool side to scattering and
Initial bending degree is not identical.
On the direction for being parallel to membrane plane, length is identical and identical 2 one end of driving unit of initial bending degree is aligned
And parallel tiling (region (a) in such as Fig. 8).The production when different electroactive materials are distributed in membrane plane, apply identical voltage
Raw bending (region (b) in such as Fig. 8) in the same direction, and when applying opposed polarity voltage, the effect of torsion driving can be generated (as schemed
Region (c) in 8), it can be used for the control to fluid force direction such as Biomimetic Fish Fin and bionical wing.
Incorporated by reference to Fig. 6, unlike embodiment 1 and embodiment 2, the cross section after all driving units 2 are laid out is in
Array parallel connection flexure mode structure：On the direction perpendicular to membrane plane, length is identical and driving that initial bending degree is different
The superposition in parallel of unit 2, on the direction for being parallel to membrane plane, length is identical and the identical driving unit 2 of initial bending degree is flat
Row tiling.The parallel flexible driver of the present embodiment can not only generate the bending deformation driving of big moment of flexure under voltage effect,
And torsional deflection driving can be generated.
In above several embodiments, the parallel connection that production rectangle equal thickness strip electroactive polymer material is constituted is bent
Type driver, by taking representative ion polymer-metal composite material (IPMC) as an example.Nafion membrane is subjected to roughening pretreatment
Afterwards, it is cut into isometric rectangle bar shaped print, is placed in the circular arc type mold of different curvature radius, by 100 DEG C of Vacuum Heats
Processing forms different initial bending shapes.Then impregnated-restored three times respectively and electroless deposition electrode three times, by from
The IPMC material 2 of differently curved degree is made after son exchange and post-processing.Then one end is converged, the other end, which scatters, carries out parallel connection
Superposition, is mounted on stationary fixture 1 and stationary fixture 23, constitutes parallel flexible driver.When to each electroactive driving material
When unit applies identical voltage, parallel flexible actuator assembly integrally generates bending deformation.
Referring to Fig. 6 and 7, it is in parallel to make the array that rectangle equal thickness strip electroactive polymer material is constituted
Flexure type driver, by taking Bark gel drives material (BGA) as an example.Using Kynoar (PVDF), ionic liquid and organic
Solvent makes sandwich layer ionomeric polymer layer, is made of Kynoar (PVDF), ionic liquid, organic solvent and carbon nanotube
Electrode layer, by way of hot pressing made from BGA material.BGA material is placed in the circular arc type mold of different curvature radius, is passed through
It crosses 70 DEG C of vacuum heat treatments and forms different initial bending shapes.The BGA driver of the same shape makes 3, first by multi-disc length
Electroactive polymer units identical and that initial bending degree is different are in parallel on the direction perpendicular to membrane plane to be superimposed composition fan
Shape driver is mounted on stationary fixture 36 and stationary fixture 49 then by multiple fan-shaped driver parallel connections, constitutes battle array
Column parallel connection is bent driver, that is, parallel flexible actuator assembly.Multiple distribution drivers i.e. parallel flexible can also be first installed
Driver, then be mounted on stationary fixture 36 and stationary fixture 49, forming array formula parallel connection is bent driver.
Sandwich layer ionomeric polymer layer is made using Kynoar (PVDF), ionic liquid and organic solvent, using poly- inclined
Vinyl fluoride (PVDF), ionic liquid, organic solvent and carbon nanotube make electrode layer.It is big that electrode layer is cut into driving unit
It is small, as shown in region (a) in Fig. 9, electrode layer is affixed on to core polymer layer upper and lower surface in parallel, is made by way of hot pressing
BGA material distribution driver.In conjunction with the region (b) of Fig. 9, BGA distribution driver is placed in the circular arc of different curvature radius
In pattern tool, different initial bending shapes 19 are formed by 70 DEG C of vacuum heat treatments.Then point that multiple bending degree are different
The superposition forming array driver in parallel on the direction perpendicular to membrane plane of cloth driver 19.
In conjunction with the region (c) of Fig. 9, using multiple fan-shaped drivers 18 and multiple distribution drivers 19, forming array formula
Parallel connection bending driver.
When applying the effect of identical voltage to different units, the bending deformation driving of big moment of flexure is generated；When to different sectors
When driving unit applies different voltages, torsional deflection driving is generated.
Therefore, array parallel connection flexure mode structure can be using following one of make assembling：
Make one：It is first that length is identical and the identical multi-disc actuator 14 of initial bending degree is put down in the same plane
Row tiling and both ends alignment, are assembled into a piece of driving unit 2, and thus mode assembles multi-disc driving unit 2；Multi-disc is driven again
One end of moving cell 2 converges to and a little forms pool side, and the other end is radial to scatter to form block form and scatter end side by side, is assembled into
One parallel flexible driver, thus mode assembles multiple parallel flexible drivers, wherein those belong to different driving unit
Actuator 14 in 2 holds length identical from pool side to scattering, and initial bending degree is not identical；Finally by multiple parallel flexibles
Driver adds up on the fan-shaped surface direction perpendicular to corresponding parallel flexible driver and both ends are aligned, all pool sides and all
Scattering, end is linear respectively to be laid out, and assembles a parallel flexible actuator assembly, wherein perpendicular to parallel flexible driver
Fan-shaped surface direction on, the actuator 14 of same arrangement holds length identical and initial bending degree is identical from pool side to scattering,
The actuators 14 of difference arrangement hold length identical and initial bending degree is not identical from pool side to scattering；
Make two：It is first that length is identical and the identical multi-disc actuator 14 of initial bending degree is put down in the same plane
Row tiling and both ends alignment, are assembled into a piece of driving unit 2, and thus mode assembles multi-disc driving unit 2；Multi-disc is driven again
Moving cell 2 in the same plane in parallel tiling and both ends be aligned, form it is a piece of be in distributed component, and thus mode assemble it is more
Piece distributed component, wherein and initial bending degree identical with 14 length of actuator in a piece of distributed component is identical；Most
Afterwards by one end of multi-disc distributed component converge to a little formed pool side, the other end it is radial side by side scatter to be formed block form dissipate
Beginning is assembled into parallel flexible actuator assembly, wherein 14 length of actuator in the distributed component of different pieces is identical and first
Beginning bending degree is not identical.
Make three：In conjunction with above two make Hybrid assembling.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of parallel flexible driver based on electroactive polymer, it is characterised in that：Multi-disc including block form distribution is driven
Moving cell (2), per a piece of driving unit (2) all in membranaceous；One end of multi-disc driving unit (2), which converges to, a little forms convergence
End, the other end is radial to scatter to form block form and scatter end side by side, so that the parallel flexible driver is integrally fan-shaped；Each
Driving unit (2) includes using at least a piece of made of the electroactive polymer of bending deformation based on that can generate under voltage effect
Actuator (14)；The actuator (14) belonged in the same driving unit (2) holds length identical from pool side to scattering, and initial
Bending degree is identical, and tiles in parallel on the membrane plane direction for being parallel to respective drive unit (2)；Belong to different driving unit
(2) actuator (14) in holds length identical from pool side to scattering, and initial bending degree is not identical.
2. the parallel flexible driver based on electroactive polymer as described in claim 1, it is characterised in that：It is described electroactive
Polymer is ion polymer-metal composite material, Bark gel driving material, carbon driving material, conducting polymer driving material
At least one of material, conductive mutually interspersed polymer network driving material electroactive polymer.
3. the parallel flexible driver based on electroactive polymer as described in claim 1, it is characterised in that：Actuator (14)
Initial bending degree by by the actuator (14) to straight no deformation apply that different amplitude voltages generate it is different degrees of
Bending deformation determines.
4. the parallel flexible driver based on electroactive polymer as described in claim 1, it is characterised in that：Actuator (14)
Shape be equal thickness rectangle strip film, or be variable cross-section and/or the strip film of Varying-thickness.
5. the parallel flexible driver based on electroactive polymer as described in claim 1, it is characterised in that：Driving unit
(2) position is in symmetrical at equal intervals, or is in non-uniform spacing and/or asymmetric distribution.
6. the parallel flexible driver based on electroactive polymer as described in claim 1, it is characterised in that：Actuator (14)
Shape manufactured by the technique of solution film casting.
7. the parallel flexible driver based on electroactive polymer as described in claim 1, it is characterised in that：Actuator (14)
Different initial bending degree by carrying out heat treatment realization to actuator (14).
8. the parallel flexible driver based on electroactive polymer as described in claim 1, it is characterised in that：The parallel connection is soft
Property driver further includes：
Stationary fixture one (1) is fixed on the pool side, realizes these actuators (14) in the fixation of the pool side；
Stationary fixture two (3) is fixed on the end of scattering, realizes these actuators (14) in the fixation at the end of scattering.
9. a kind of parallel flexible actuator assembly based on electroactive polymer comprising multiple as any in claim 1 to 8
Parallel flexible driver described in one based on electroactive polymer；It is characterized in that：All parallel flexible drivers are hanging down
It is directly aligned in cumulative and both ends on the fan-shaped surface direction of parallel flexible driver, all pool sides and all ends of scattering are respectively in straight
Line layout；On the fan-shaped surface direction perpendicular to parallel flexible driver, the actuator (14) of same arrangement is from pool side to dissipating
Beginning length is identical and initial bending degree is identical, the actuators (14) of difference arrangement hold length identical from pool side to scattering and
Initial bending degree is not identical.
10. the parallel flexible actuator assembly based on electroactive polymer as claimed in claim 9, it is characterised in that：It is adopted
It is assembled with following one of make：
Make one：First by length is identical and the identical multi-disc actuator (14) of initial bending degree is parallel in the same plane
Tiling and both ends alignment, are assembled into a piece of driving unit (2), and thus mode assembles multi-disc driving unit (2)；Again by multi-disc
One end of driving unit (2) converges to and a little forms pool side, and the other end is radial to scatter to form block form and scatter end side by side, group
A parallel flexible driver is dressed up, thus mode assembles multiple parallel flexible drivers, wherein those belong to different driving
Actuator (14) in unit (2) holds length identical from pool side to scattering, and initial bending degree is not identical；It finally will be multiple
Parallel flexible driver adds up on the fan-shaped surface direction perpendicular to corresponding parallel flexible driver and both ends are aligned, all convergences
End and all ends of scattering linearly are laid out respectively, assemble a parallel flexible actuator assembly, wherein perpendicular in parallel soft
On the fan-shaped surface direction of property driver, the actuator (14) of same arrangement holds length identical and initial bending from pool side to scattering
Degree is identical, and the actuators (14) of difference arrangement hold length identical and initial bending degree is not identical from pool side to scattering；
Make two：First by length is identical and the identical multi-disc actuator (14) of initial bending degree is parallel in the same plane
Tiling and both ends alignment, are assembled into a piece of driving unit (2), and thus mode assembles multi-disc driving unit (2)；Again by multi-disc
Driving unit (2) tiling and both ends alignment in parallel in the same plane, forming a piece of is in distributed component, and thus mode assembles
Multi-disc distributed component out, wherein and initial bending degree identical with actuator (14) length in a piece of distributed component
It is identical；Finally one end of multi-disc distributed component is converged to and a little forms pool side, the other end is radial to scatter to be formed side by side
Block form is scattered end, and parallel flexible actuator assembly is assembled into, wherein the actuator (14) in the distributed component of different pieces is long
It is not identical to spend identical and initial bending degree；
Make three：In conjunction with above two make Hybrid assembling.
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| CN103119741A (en) * | 2010-09-09 | 2013-05-22 | 皇家飞利浦电子股份有限公司 | Electroactive polymer actuator |
| CN203975197U (en) * | 2014-05-29 | 2014-12-03 | 王跃成 | The pusher flexible bionic machine fish of many combinations |
| CN105591564A (en) * | 2014-11-05 | 2016-05-18 | 比尔克特韦尔克有限公司 | Diaphragm actuator and method for producing a diaphragm actuator |
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| EP2114628A2 (en) * | 2006-11-28 | 2009-11-11 | University of Tartu | A shape changing manipulator comprising self-sensing actuators made of an electroactive polymer material |
| US9951757B2 (en) * | 2014-07-31 | 2018-04-24 | Battelle Memorial Institute | Increased force generation in electroactive polymers |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103119741A (en) * | 2010-09-09 | 2013-05-22 | 皇家飞利浦电子股份有限公司 | Electroactive polymer actuator |
| CN203975197U (en) * | 2014-05-29 | 2014-12-03 | 王跃成 | The pusher flexible bionic machine fish of many combinations |
| CN105591564A (en) * | 2014-11-05 | 2016-05-18 | 比尔克特韦尔克有限公司 | Diaphragm actuator and method for producing a diaphragm actuator |
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