CAJ | 학술논문

基于介电型EAP ( electroactive polymer，电活性聚合物)的优点，以 VHB4910作为驱动材料，设计、实现了卷绕式二自由度驱动器，它可产生轴向伸缩和弯曲运动。对驱动器的性能进行测试，其最大轴向位移为6.78 mm，最大轴向推拉力分别为9.56 N、9.81 N；最大弯曲角度达87°，最大侧向力为1.04 N。在驱动器两端安装两对单向轮，实现了一个可爬行运动的机器人，该机器人可通过驱动器的伸缩和弯曲向前运动，其伸缩运动速度为1.55 mm/s，弯曲运动速度可达6.41 mm/s。试验证明介电型EAP可以用于实现微小型爬行机器人。
기우개전형EAP ( electroactive polymer，전활성취합물)적우점，이 VHB4910작위구동재료，설계、실현료권요식이자유도구동기，타가산생축향신축화만곡운동。대구동기적성능진행측시，기최대축향위이위6.78 mm，최대축향추랍력분별위9.56 N、9.81 N；최대만곡각도체87°，최대측향력위1.04 N。재구동기량단안장량대단향륜，실현료일개가파행운동적궤기인，해궤기인가통과구동기적신축화만곡향전운동，기신축운동속도위1.55 mm/s，만곡운동속도가체6.41 mm/s。시험증명개전형EAP가이용우실현미소형파행궤기인。
Based on the merits of dielectric electroactive polymer ( EAP),a 2-DOF rol actuator is designed and implemented using VHB4910 as actuating material,which can make elongating and shortening motion and bending motion. The properties of the actuator are tested,the largest axial displacement is up to 6.78 mm,the largest axial thrust and tension are up to 9.56 N and 9.81 N,the lar￣gest bending angle is up to 87° and the largest blocking force is up to 1.04 N. A robot can crawl by instal ing two one-way wheels on both ends of the actuator and go ahead by the elongating and shortening motion and bending motion,the fastest speed of elongating and shortening motion is 1.55 mm/s,and the fastest speed of bending motion is up to 6.41 mm/s. The experiments prove that elec￣troactive polymer can be used to implement the crawling of miniature robot.