CN103904933B - Bistable actuator - Google Patents
Bistable actuator Download PDFInfo
- Publication number
- CN103904933B CN103904933B CN201310485580.3A CN201310485580A CN103904933B CN 103904933 B CN103904933 B CN 103904933B CN 201310485580 A CN201310485580 A CN 201310485580A CN 103904933 B CN103904933 B CN 103904933B
- Authority
- CN
- China
- Prior art keywords
- bistable
- soft material
- intelligent soft
- material film
- rigid disk
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The present invention provides a kind of bistable actuator, including stent, prestressing mechanism, actuating mechanism and driving mechanism.Wherein, prestressing mechanism is stretching arm, and stretching arm is distributed in stent both sides；Driving mechanism is two panels intelligent soft material film, and the inner end of two panels film bonds respectively with rigid disk, and outer end is separately fixed on the fixture for being connected to stretching arm, and actuating mechanism is driven by the contraction and diastole of intelligent soft material film；Actuating mechanism includes bistable state beam and rigid disk, bistable state beam is located at mechanism center, and it passes perpendicularly through in the middle part of rigid disk, intelligent soft material film is bonded with rigid disk, the both ends of bistable state beam are connect with stent, bistable state beam realizes that the actuator mutually switches between two stable states by the switching of location status, and bistable state beam only needs to provide energy when location status switches, and keeps not needing to energy during settling position state.The present invention realizes stable state driving by intelligent soft material thin-film material and bistable structure, not only has the advantages that general actuator, but also can realize miniaturization, power saving and quick response.
Description
Technical field
The present invention relates to actuators, and in particular to the bistable state that a kind of eigenstrain using intelligent soft material drives activates
Device.
Background technology
Microdrive is the important composition component of electromechanical bistable state driver, wherein former based on the driving such as electricity, thermal and magnetic and light
The microdrive of reason is the emphasis of research.Voltage needed for traditional electromagnetic driver can the very low but ruler of its operating characteristic
Very little effect is apparent, complicated, power consumption is high and efficiency is not high.Bistable state（bi-stable）Although design can alleviate inoculation
Heat dissipation caused by fever is difficult, but this device remains the problem of effect is low.Thermomechanically (electric heating) driving can be with
There is relatively low driving voltage, higher output torque and higher energy per volume in small size.But thermomechanical drive
It is dynamic there are power consumption height, the shortcomings that low-response.And permanent magnetic bistable electrothermal driver is on the basis of traditional thermomechanical driver
The defects of introducing bistable structure and then improving thermal drivers, but there are still the shortcomings that complicated and inefficiency.
In addition, traditional intelligent soft material driver needs that incentive action is kept to maintain driving condition, this has resulted in using energy source
Rate it is low, do not have energy-efficient effect.
Invention content
In view of the deficiencies of the prior art, the technical problems to be solved by the invention are to provide a kind of using intelligent soft material
The bistable actuator of eigenstrain driving, bistable actuator of the invention are only needed to provide energy when state switches, be protected
Energy is not needed to when holding stable state, has the advantages that energy consumption is greatly reduced.
The technical solution adopted by the present invention is as follows：
A kind of bistable actuator, it is characterised in that：The bistable actuator includes stent, prestressing mechanism, cause
Motivation structure and driving mechanism, wherein：
The prestressing mechanism is used to adjust the pre-stretching of driving mechanism, pre-stretching so that driving mechanism be more prone to by
Driving；
The driving mechanism generates driving force using the eigenstrain of intelligent soft material, and the intelligent soft material refers to
In extrinsic motivated（Not comprising the field of force）, such as under the action of electric field, magnetic field, thermal field, light field, electromagnetic field, pyromagnetic field, generation from
Relatively notable by deformation and macroscopic special material is a kind of flexible material, and mechanical characteristic is partially soft, rigidity and modulus
Very little, free deformation can restore；The eigenstrain refers to material in extrinsic motivated, such as electric field, magnetic field, thermal field, light
The deformation generated under the action of field, electromagnetic field, pyromagnetic field, this deformation need not rely on extraneous power load namely this shape
Change is that material generates in itself, such as phenomenon of expanding with heat and contract with cold, and the driving force that this deformation generates can make bistable actuator
State switches.
For intelligent soft material, the pre-stretching refers to such material is first stretched to certain state, Ran Hougu in advance
Determine onto stretching arm to be used to keep tensional state.Driving mechanism after pre-stretching can be very easy to drive, because driving
A part for motivation structure is under extrinsic motivated effect, and the pre-stretching of the part can be relaxed, so as to be not on
The part driving of extrinsic motivated.
The actuating mechanism is for making the actuator mutually switch between two stable states, the actuator
Structure only needs to provide energy when state switches, and is encouraged for applying to intelligent soft material, and is not required to when keeping stable state
Want energy.
The type of drive of traditional bistable actuator generally require introduce the complexity such as electromagnet, motor mechanical structure with
Just the stable state switching of bistable state driver is realized.Often there are two shortcomings for these devices.First, capacity usage ratio is not high,
It maintains to need lasting energy supply when stable state, more consume energy；Secondly, above-mentioned mechanical structure causes entire bistable state driver
Structure it is increasingly complex.
Since intelligent soft material has the shortcomings that the speed of response is slow caused by viscoplasticity and driving force is small, if individually
By intelligent soft material for driver, then need that incentive action is kept to maintain driving condition, this has resulted in energy utilization rate
It is low, do not have energy-efficient effect；And the bistable structure that the present invention designs time in stable state jump process is very short, generates
Power it is larger, and can assist intelligent soft material film drive, using intelligent soft material as the drive of bistable actuator of the present invention
The combination of motivation structure, intelligent soft material and bistable structure compensates for the shortcomings that intelligent soft material just, is obviously improved
That is the response speed and driving force of intelligent soft material film, and enormously simplify the structure of bistable actuator.
The present invention is directed to the shortcomings that intelligent soft material, creatively propose a kind of brand new based on intelligent soft material
Bistable actuator enormously simplifies the structure of bistable actuator, only needs to provide energy when state switches, and is protecting
Energy is not needed to when holding stable state so that the energy consumption of entire bistable actuator is greatly reduced.
Further, the size range of the bistable actuator can be 0.1mm~1m, preferably, described double
The size range of steady-state actuation device is 1mm~10cm.
Further, the driving mechanism is intelligent soft material film, and the actuating mechanism passes through intelligent soft material
The contraction and diastole of film drive, and the intelligent soft material film is in extrinsic motivated（Not comprising the field of force）, such as electric field, magnetic
The plane expansion in film is understood under the action of field, thermal field, light field, electromagnetic field, pyromagnetic field, thickness is thinning.
Further, the material of the intelligent soft material film is selected from photo-induced telescopic elastomer, dielectric elastomer, mangneto and stretches
Contracting elastomer.
Further, driving mechanism of the present invention is spring structure.
Further, the prestressing mechanism of bistable actuator of the invention is stretching arm, and stretching arm is distributed in stent two
Side can be equipped with adjusting bolt in stretching arm, can change the position of stretching arm by rotating adjusting bolt, so as to change
The pre-stretching of intelligent soft material film.
Further, the stretching arm of bistable actuator of the invention is equipped with fixture, and fixture is equipped with fishbolt, folder
Tight bolt is connected through a screw thread with fixture, by rotating the opening and closing of fishbolt adjustable clamp, facilitates intelligent soft material film
Replacement.
The adjustable range of the stretching arm of the bistable actuator of the present invention can be set according to the actual conditions of driver, model
Enclose the length depending on adjusting bolt.
Further, the bistable state beam of bistable actuator of the invention is double hinged beams, by being applied to position among beam
Add pulling force to realize the change of bistable state beam location status.The both ends of double hinged beams are fixed on stent, due to two fixed points
The original length of distance shorter than beam, Gu Liang is in the axial direction by the pressure of stent, into flexion.Intelligent soft material is to rigidity
The pulling force that piece applies is transferred to the centre position of beam, due to the difference of intelligent soft material material category, to the pulling force of beam also not
Together, therefore to beam deflection rigidity it should be reasonably selected according to the type of intelligent soft material material, i.e., double hinged beams and intelligence are soft
Material answers Proper Match.
Further, the actuating mechanism of bistable actuator of the invention includes bistable state beam and rigid disk, and described is double
Stable state beam is connect with rigid disk, and the driving mechanism is bonded with rigid disk, and the both ends of the bistable state beam are connect with stent,
The bistable state beam realizes that the actuator mutually switches between two stable states by the switching of location status, institute
The bistable state beam stated only needs to provide energy when location status switches, and keeps not needing to energy during settling position state, described
The location status of bistable state beam changed by the contraction and diastole of intelligent soft material film.
Further, the intelligent soft material film is located at rigid disk both sides, the inner end of intelligent soft material film respectively
It is bonded with rigid disk, outer end is fixed on the fixture for being connected to stretching arm.
Further, the rigid disk of bistable actuator of the invention is mutually perpendicular in position with bistable state beam, bistable
State beam passes through rigid disk, and the contact line of rigid disk and bistable state beam is caused to be located at the middle position of beam.The both ends of rigid disk
It is bonded respectively with two panels intelligent soft material film, directly bears the pulling force that intelligent soft material film is generated by deformation, and by pulling force
Bistable state beam is passed to, the location status of bistable state beam is changed by the contraction and diastole of two panels intelligent soft material film.
Further, the two panels intelligent soft material film of bistable actuator of the invention is located at rigid disk both sides respectively
（By intelligent soft material film 51 labeled as A in following invention content explanation, intelligent soft material film 52 is labeled as B）, two panels intelligence
The inner end of energy soft material film is bonded with rigid disk, and outer end is fixed on the fixture for being connected to stretching arm, intelligent soft material film
There is certain pretightning force, the size of pretightning force can be adjusted by stretching arm.Pass through extrinsic motivated（Not comprising the field of force）It can make intelligence
Can soft material film A eigenstrain occurs, so as to discharge the pretightning force of intelligent soft material film A, however intelligent soft material film B
Due to by extrinsic motivated, not remaining in Pre strained state, then the pulling force of intelligent soft material film B can be more than intelligent softwood
Expect film A, they can make the buckling direction of bistable state beam change the resultant force of bistable state beam.
Further, the energisation mode of bistable actuator of the invention can may be selected from luminous energy, heat there are many form
In energy, electric energy, magnetic energy any one or it is arbitrary a variety of, different types of intelligent soft material is chosen according to the difference of energisation mode
Thin-film material.
Below using high pressure generator as energisation mode, actuating mechanism is bistable state beam and rigid disk, and intelligent soft material is
For dielectric elastomer (DE), illustrate that driving mechanism of the present invention generates driving force using the eigenstrain of intelligent soft material
Principle, schematic diagram is referring to Fig. 4.
(a) figure of Fig. 4 represents the side view of the intelligent soft material film without being pre-stretched；Intelligent soft material film is divided into two
Piece, length are respectively,；
(b) figure of Fig. 4 represents there is the side view of intelligent soft material film A, B being centainly pre-stretched, and length is respectively：
λ1p , λ1p ；
(c) figure of Fig. 4 is the coupled structure of bistable state beam and intelligent soft material film, at steady state, intelligent softwood
Expect that the pulling force that film A is generated is smaller than intelligent soft material film B, the resultant force that such two panels intelligent soft material film generates is to the right
（The direction of intelligent soft material film B）, but since the stable state jump of bistable state beam needs a certain size power（Threshold values）, and this
When resultant force of the two panels intelligent soft material membrane action on beam do not reach this threshold values（Even if the jump of bistable state beam is critical
Value）, so entire bistable state driver is still within this stable state；
(d) figure of Fig. 4 represents the stateful switchover process of bistable state driver, when intelligent soft material film A is in centainly
Under extrinsic motivated, eigenstrain will be generated, i.e., can planar be expanded, that is to say, that intelligent soft material film A is released should
Power, at the same time intelligent soft material film B is due to by extrinsic motivated, being still within original stress state, and then two
Resultant force of the piece intelligent soft material membrane action on beam can become larger, this is directly proportional with excitation size with joint efforts, when excitation reaches certain
During value, this has been more than the threshold values needed for the jump of bistable state beam with joint efforts, and then entire bistable state driver is cut from a stable state
Change to another stable state（As indicated by the dashed lines）.
Because the bistable state driver of the present invention is symmetrical on geometry, when bistable state driver is switched to
Still original stable state can be switched to after stable state shown in dotted line in the same way, is needed at this time in intelligent softwood
Film B is expected plus identical excitation, and intelligent soft material film A is in the state of no extrinsic motivated.
In the process, it is needed when only switching between two stable states plus extrinsic motivated（Such as electric field,
Magnetic field, thermal field, light field, electromagnetic field, pyromagnetic field）, when finishing switching can remove extrinsic motivated between two stable states, entirely
Bistable state driver, which can be maintained at, switches later state.Thus achieve the purpose that energy saving.
The design theory of the bistable actuator of the present invention is as follows：
According to soft material mechanics correlation theory, we can obtain loading be in original depthHIntelligent soft material film
Voltage on A, B is respectively、, it is respectively in the stress that driving direction generates,, driving side after deformation of thin membrane
To length be respectively λ1p 、λ1p , equilibrium relationships are：
(1)
(2)
WhereinεIt is the dielectric coefficient of film,J limIt is the constant related with pre-stretching,μIt is modulus of shearing,
λ 1A , λ 1B The length variation coefficient of respectively film A, B driving direction,λ 2A , λ 2B Respectively represent film A, B perpendicular to
The length variation coefficient of driving direction has in (2) formulaλ 1A =λ 1B =λ 1p , λ 2A =λ 2B =λ 2p 。
For bistable state beam, the condition in equilibrium state is：
(3)
According to the correlation theory of bistable state beam, we obtain bistable state beam centre-point load and the relationship of displacement, wherein,αWithβ
Represent two nondimensional constants,dRepresent the displacement at beam midpoint.
(4)
We can obtain voltage in this way and the relationship of bistable state Liang Sicheng is as follows：
(5)
Wherein,
.
Fig. 5 shows the experiment of bistable actuator applied voltage and beam neutral displacement and theoretical correlation curve, abscissa
Beam neutral displacement is represented, ordinate positive axis represents the voltage applied on film A, ordinate bears axis and represents what is applied on film B
Voltage, notional result obtains by formula (5), and the up-side down triangle in figure represents the data measured in experiment, curve representation theory
Result of calculation.
As seen from Figure 5, it is identical that experimental result has part with the calculated results, and is misfitted in another part,
The reason is that bistable state beam is in equilibrium state before jump, therefore it can be calculated according to foregoing theoretical method, so as to be somebody's turn to do
Section curves.And bistable state beam is nonequilibrium condition in jump process, therefore cannot be according to foregoing theoretical method
It calculates, is misfitted so as to cause the part of theory curve with empirical curve.That is, what theoretical curve was linked to be with experimental data
Critical point of the burble point of curve for bistable state beam jump, the state switching point of bistable actuator as of the present invention, therefore
Illustrate the design theory of the present invention with being really what is matched.The steady-state actuation device that the present invention designs has reached expected effect
Fruit.
The beneficial effects of the invention are as follows：
1. the present invention be directed to intelligent soft material the shortcomings that, creatively propose a kind of brand new based on intelligent softwood
The bistable actuator of material enormously simplifies the structure of bistable actuator, only needs to provide energy when state switches, and
Energy is not needed to when keeping stable state so that the energy consumption of entire bistable actuator is greatly reduced；
2. it since the bistable actuator structure of the present invention is very simple, therefore can minimize；
3. the state due to intelligent soft material film can be kept in the case of not continued power, therefore can be with power saving；
4. intelligent soft material has viscoplasticity, response speed and driving force are insufficient, and existing bistable structure needs
Huge and complicated driver（Such as motor）, the present invention is based on intelligent soft material bistable state driver utilize bistable structure
Jump performance can promote the response speed and driving force of intelligent soft material, and enormously simplify activation configuration, reduce
Its volume allows bistable actuator to realize miniaturization, power saving and quick response.
Description of the drawings
Fig. 1 is the graphics of the bistable actuator of the present invention；
Shown in figure：1：Stent；2：Stretching arm；3：Bistable state beam；4：Rigid disk；51,52：Intelligent soft material film；6：
Fixture；
Fig. 2 is the front view of the bistable actuator of the present invention；
Fig. 3 is the vertical view of the bistable actuator of the present invention；
Fig. 4 is the schematic diagram of driving mechanism of the present invention；
Fig. 5 is the experiment of bistable actuator applied voltage of the present invention and beam neutral displacement and theoretical curve coincide figure.
Specific embodiment
Following embodiment is only illustrative of the invention and is not intended to limit the scope of the invention.In addition, it should also be understood that, reading
After the content of the invention lectured, those skilled in the art can make various modifications or changes to the present invention, these shapes of equal value
Formula is also fallen within the scope of the appended claims of the present application.
The present invention provides a kind of bistable actuators, by stent 1 and prestressing mechanism, actuating mechanism and driving mechanism
Composition, it is characterised in that the prestressing mechanism includes stretching arm 2, and the actuating mechanism includes bistable state beam 3 and rigidity
Piece 4, the driving mechanism are intelligent soft material film 51,52, and the stretching arm 2 can adjust the preload of intelligent soft material film
Power, the bistable state beam 3 can mutually switch between two stable states, and the intelligent soft material film 51,52 can generate
Driving force.
Wherein,
The stretching arm 2 is equipped with fixture 6；
The fixture 6 is equipped with fishbolt；
The fixture 6 clamps 51,52 one end of intelligent soft material film；
The intelligent soft material film 51,52 is bonded with rigid disk 4；
The bistable state beam 3 passes perpendicularly through rigid disk 4；
The both ends of the bistable state beam 3 are connect with stent 1.
The stretching arm 2 of the bistable actuator of the present invention is distributed in stent both sides, and adjusting bolt is equipped in stretching arm 2,
The position of stretching arm 2 can be changed by rotating adjusting bolt, so as to change the pre-stretching of intelligent soft material film 51,52.
Further, the bistable state beam 3 of bistable actuator of the invention is double hinged beams, and the both ends of beam are fixed on stent
On 1, since the distance of two fixed points is shorter than the original length of beam, Gu Liang is in the axial direction by the pressure of stent 1, into buckling shape
State, the pulling force that 51,52 pairs of rigid disks 4 of intelligent soft material film apply are transferred to the centre position of beam.
The rigid disk 4 of the bistable actuator of the present invention is mutually perpendicular in position with bistable state beam 3, and bistable state beam 3 is worn
Rigid disk 4 is crossed, and the contact line of rigid disk 4 and bistable state beam 3 is caused to be located at the middle position of beam.The both ends of rigid disk 4 point
It is not bonded with intelligent soft material film 51,52, directly bears the pulling force that intelligent soft material film is generated by deformation, and pulling force is passed
Pass bistable state beam 3.
The two panels intelligent soft material film 51,52 of the bistable actuator of the present invention is located at 4 both sides of rigid disk respectively, and firm
Property piece 4 bonds, and the another side of intelligent soft material film is fixed on using fixture 6 on stretching arm 2, and intelligent soft material film has centainly
Pretightning force, the size of pretightning force can be adjusted by stretching arm 2.By power up (or light, magnetic, heat) can wherein a piece of intelligence it is soft
Eigenstrain occurs for material film, so as to which rigid disk 4 be pulled to move, so that the buckling direction of bistable state beam 3 changes.
Diversified forms, such as heat, light, electricity, magnetic can be used in the energisation mode of the bistable actuator of the present invention, according to excitation
The difference of mode chooses different types of intelligent soft material film.
Bistable actuator provided by the invention is further illustrated below in conjunction with the accompanying drawings.
The driving force that bistable state beam 3 changes state is made to be generated by intelligent soft material film 51,52 in the present invention, before use
First have to installation intelligent soft material film.As shown in Figure 1, the outer end of intelligent soft material film 51,52 is clamped by fixture 6,
Inner end is bonded with rigid disk 4, according to the difference of energisation mode, chooses different intelligent soft material thin-film materials, with lower part with
For dielectric elastomer.
The positive and negative of two panels intelligent soft material film 51,52 is connect respectively by electrode with additional power source.
Pre-stretching adjusting is also carried out to intelligent soft material film 51,52 when using the device, adjusting method is rotation
Adjusting bolt in both sides stretching arm 2.Since bistable state beam 3 is in flexion, and the Liangqi bending stiffness of different materials is not
Together, changing it, size of pulling force needed for buckling direction is also different, and the adjustable of intelligent soft material film pretightning force makes intelligence soft
The pulling force that material film is generated when being powered is also adjustable, ensures the pulling force foot that intelligent soft material film is generated by deformation when being powered
To change the buckling direction of bistable state beam 3.
It, then will be more when the bending stiffness of bistable state beam 3 is excessive, can not also change its buckling direction by adjusting pretightning force
The smaller beam of bending stiffness is changed, to ensure that actuator can work normally.
The selection of the energisation mode of bistable actuator of the present invention can diversification, according to choose energisation mode difference,
It needs to select corresponding intelligent soft material film 51,52, the energisation mode selected in attached drawing is high pressure generator, therefore selects DE
Film is as intelligent soft material film 51,52.
When the bistable actuator of the present invention is in stable state, bistable state beam 3 is in stable state, that is, at it
In a certain flexion, since without applying extrinsic motivated, the pulling force on intelligent soft material film 51,52 does not change at this time；
When applying extrinsic motivated, intelligent soft material film 51,52 causes the pulling force on film to become since eigenstrain occurs
Change, bistable state beam 3 is made to be in unsteady state, that is, it is in the jump from a certain flexion to another flexion
Journey, the switching of bistable actuator generating state, at the end of the jump process of bistable state beam, bistable actuator just completes shape
State switches.
Specifically, bistable state beam 3 is when starting in a certain flexion, and two panels intelligent soft material film is to rigid disk 4
Pulling force balance each other, when to beam buckling direction intelligent soft material film 52 apply voltage when, 52 diastole of intelligent soft material film,
The pulling force of generation is reduced rapidly, and thin 51 film of the intelligent soft material of opposite side is still in Pre strained state at this time, so as to make opposite side
Intelligent soft material film 51 rigid disk 4 is pulled into opposite side rapidly, and then push bistable state beam 3 to opposite side buckling, at this time
It powers off, bistable state beam 3 is the state kept after handover, does not need to continued power to maintain the state.When needing bistable
When state beam 3 switches back into original state, only it need to apply voltage on opposite side intelligent soft material film 51, while by original side
Charge on intelligent soft material film 52 discharges, can be so that bistable state beam switches back to original state.
The present invention maintains the flexion of bistable state beam due to not needing to continued power, more energy saving；Together
When due to most intelligent soft materials have viscoplasticity, can improve the sound of intelligent soft material using the jump performance of bistable structure
Answer speed and driving force；Compared with existing bistable actuator, the inventive structure is very simple, occupies little space, and can be applicable in
In more occasions.
Claims (8)
1. a kind of bistable actuator, it is characterised in that：The bistable actuator includes stent (1), prestressing mechanism, cause
Motivation structure and driving mechanism, wherein：
The prestressing mechanism is used to adjust the pre-stretching of driving mechanism；
The driving mechanism generates driving force using the eigenstrain of intelligent soft material, and the extrinsic motivated of the eigenstrain is
Electric field；
The actuating mechanism is for making the actuator mutually switch between two stable states, and the actuating mechanism is only
It needs to provide energy when state switches, keeps not needing to energy during stable state；The driving mechanism is intelligent soft material
Film (51,52), the actuating mechanism is driven by the contraction and diastole of intelligent soft material film (51,52), described
Intelligent soft material film (51,52) in the same plane, and is to be connected in series with；The actuating mechanism includes bistable state beam
(3) it is connect with rigid disk (4), the bistable state beam (3) with rigid disk (4), the driving mechanism is viscous with rigid disk (4)
Close, the both ends of the bistable state beam (3) connect with stent (1), the rigid disk (4) of bistable actuator in position with bistable
State beam (3) is mutually perpendicular to, and bistable state beam (3) causes the contact line of rigid disk (4) and bistable state beam (3) across rigid disk (4)
Positioned at the middle position of beam, the both ends of rigid disk (4) bond respectively with intelligent soft material film (51,52)；The bistable
State beam (3) realizes that the actuator mutually switches between two stable states by the switching of location status, and described is double
Stable state beam (3) only needs to provide energy when location status switches, and keeps not needing to energy during settling position state；
The relationship of voltage and bistable state Liang Sicheng is as follows in the electric field：
Wherein,
λ1A=λ1B=λ1p, λ2A=λ2B=λ2p,
By intelligent soft material film 51 labeled as A, intelligent soft material film 52 is labeled as B, loads in the intelligence that original depth is H
Voltage on soft material film A, B is respectively ΦA、ΦB, it is respectively P in the stress that driving direction generates1A, P1B, after deformation of thin membrane
The length of driving direction is respectively λ1pL1A、λ1pL1B, ε is the dielectric coefficient of film, JlimIt is the constant related with pre-stretching, μ is
Modulus of shearing, λ1A, λ1BThe length variation coefficient of respectively film A, B driving direction, λ2A, λ2BRespectively represent film A, B perpendicular to
The length variation coefficient of driving direction, α and β represent two nondimensional constants, and d represents the displacement at beam midpoint.
2. bistable actuator according to claim 1, it is characterised in that：The intelligent soft material film (51,52)
Material be selected from photo-induced telescopic elastomer, dielectric elastomer, magnetostriction elastomer.
3. bistable actuator according to claim 1, it is characterised in that：The driving mechanism is spring structure.
4. according to claim 1-3 any one of them bistable actuators, it is characterised in that：The prestressing mechanism is draws
Semi-girder (2), the stretching arm (2) are distributed in stent (1) both sides.
5. bistable actuator according to claim 4, it is characterised in that：The stretching arm (2) is equipped with fixture
(6), the fixture (6) is equipped with fishbolt.
6. according to claim 1-3 any one of them bistable actuators, it is characterised in that：The intelligent soft material film
(51,52) are located at rigid disk (4) both sides respectively, and inner end and the rigid disk (4) of intelligent soft material film (51,52) bond, outer end
It is fixed on the fixture (6) for being connected to stretching arm (2).
7. according to claim 1-3 any one of them bistable actuators, it is characterised in that：The bistable state beam (3) is
Double hinged beams realize the change of bistable state beam location status by applying pulling force to position among beam.
8. according to claim 1-3 any one of them bistable actuators, it is characterised in that：The bistable actuator
Energisation mode in luminous energy, electric energy, magnetic energy any one or it is arbitrary a variety of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310485580.3A CN103904933B (en) | 2013-10-16 | 2013-10-16 | Bistable actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310485580.3A CN103904933B (en) | 2013-10-16 | 2013-10-16 | Bistable actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103904933A CN103904933A (en) | 2014-07-02 |
| CN103904933B true CN103904933B (en) | 2018-06-26 |
Family
ID=50996117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310485580.3A Active CN103904933B (en) | 2013-10-16 | 2013-10-16 | Bistable actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103904933B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104763620B (en) * | 2014-10-31 | 2016-01-27 | 浙江大学 | Flexible wiggle pump |
| US10982739B2 (en) | 2016-04-29 | 2021-04-20 | Lintec Of America, Inc. | Bi-stable actuator devices |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203775077U (en) * | 2013-10-10 | 2014-08-13 | 浙江大学 | Bistable actuator |
-
2013
- 2013-10-16 CN CN201310485580.3A patent/CN103904933B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203775077U (en) * | 2013-10-10 | 2014-08-13 | 浙江大学 | Bistable actuator |
Non-Patent Citations (3)
| Title |
|---|
| 《Bistable Antagonistic Dielectric Elastomer Actuators for Binary Robotics and Mechatronics》;Patrick Chouinard等;《IEEE/ASME TRANSACTION ON MECHATRONICS》;20121031;第17卷;第857页序言第2段，右栏第1-2段及图1，第858页右栏倒数第2段及图3 * |
| 《On the design of large degree-of-freedom digital mechatronic devices based on bistable dielectric elastomer actuators》;Andreas Wingert等;《IEEE/ASME THANSACTION ON MECHATRONICS》;20060831;第11卷;448-456页 * |
| 《介电弹性体线性驱动器研究》;叶克贝;《中国优秀硕士学位论文全文数据库》;20111215;第22页3.1.3节及图3.4，第25页最后一段 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103904933A (en) | 2014-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103904933B (en) | Bistable actuator | |
| JP2014153711A (en) | Flexible display device | |
| WO2008120456A1 (en) | Ultrasonic actuator | |
| CN106953539A (en) | The vertical accurate piezoelectric actuator of curved compound creeping motion type and its motivational techniques | |
| CN203775077U (en) | Bistable actuator | |
| CA2361215A1 (en) | Method for controlling drive of an actuator of active vibration isolation support system | |
| CN105827145B (en) | Three matrix actuator and its method of work based on Piezoelectric Driving | |
| CN102441893A (en) | Muscle bionic-driving device based on electromagnetic force | |
| CN108453721A (en) | Controllable variation rigidity flexible actuator | |
| CN109383626A (en) | A kind of structure for automobile | |
| CN109660147A (en) | A kind of miniature multi-channel piezoelectricity steering engine | |
| CN112865593B (en) | Bionic impact piezoelectric driver with high output performance and control method thereof | |
| TWI506661B (en) | Push-on-push-off bistable switch | |
| CN108281542B (en) | Bionic manual driving device | |
| Huang et al. | A low-voltage graphene/Ag-based phase transition-controlled force actuator | |
| KR20070102769A (en) | Micro piezoelectric linear motor | |
| CN207114317U (en) | The biaxial tension-compression strength device such as electroactive polymer | |
| JPS61171885A (en) | Actuator | |
| CN110429859A (en) | A kind of four-way piezoelectricity steering engine of controllable driving force | |
| CN115625691B (en) | Two-degree-of-freedom electric driving software driver | |
| JP2010207985A (en) | Articulated driving mechanism | |
| CN111546340B (en) | Electromagnetic drive's multistable software mechanical arm system | |
| CN104882333B (en) | The contact protection circuit of Anesthesia machine power relay capacitive load | |
| Wada et al. | Spring-based actuators | |
| CN203554327U (en) | Clamping-type linear piezoelectric driver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |