介电型EAP摆动驱动器的研究与应用-机械电子工程专业论文.docxVIP

南京航空航天大学硕士学位论文 摘 要 介电型 EAP 摆动驱动器有很多实际应用场合，例如，自然界鱼类的游动，鸟类和昆虫的飞 行都采用摆动驱动。生物的摆动驱动具有许多传统摆动驱动器难以比拟的性能与简洁紧凑的结 构，模拟生物摆动功能，获得类生物驱动的优异性能和简洁紧凑的结构，具有十分重要的研究 意义和实际应用价值。 在对介电型 EAP 变形原理和介电型 EAP 单侧摆动驱动器工作过程进行分析的基础上，分 别设计了三组长宽比不同的矩形和三角形框架进行驱动器性能对比试验。测试了驱动器的摆动 角度、堵转力，并通过并联组装两个驱动单元，提高了驱动器的堵转力。对驱动器的响应及稳 定性和失效形式进行了分析。 在研究鱼类骨骼—肌肉结构构造的基础上，设计制作了柔性杆双侧摆动驱动器。对驱动器 模型的力学性能进行理论分析，试验测试了驱动器的摆动角度、堵转力及响应速度，对驱动器 的稳定性进行分析。 采用柔性杆驱动器的试验方法，设计制作了刚性杆双侧摆动驱动器，并将柔性杆驱动器和 刚性杆驱动器的性能进行比较。根据介电型EAP双侧摆动驱动器的工作机理和运动特点，设计 两刚性杆驱动器串联的仿鱼推进器模拟机器鱼的游动驱动，试验结果验证了这一方法的可行性。 关键词：介电型 EAP，摆动驱动器，柔性杆，刚性杆 i 介电型 EAP 摆动驱动器的研究与应用 Abstract Dielectric EAP swinging actuator has many practical applications, for example, in nature, the fish swim in the water, birds and insects fly in the sky, they all adopt swinging drives. Biology of the swinging drives have many characteristics which tradition of the swinging drives are difficult to compare, in addition, biology of the swinging drives have simple and compact structure. The simulation of biological swinging function to obtain the high performance of similar biological drives, simple and compact structure, has very important research significance and practical value. Three groups of rectangle and triangle frame with different length-width ratio were designed respectively to test the performance of the actuators, based on the deformation theory of dielectric EAP and the working principle of one-side dielectric EAP swinging actuator. Swinging angle and blocked force of actuators were tested by contrastive experiments, two actuating units were assembled in parallel to increase the blocked force. Response, stability and failure of the actuator had been analyzed too. Flexible pole double-sides dielectric EAP swinging actuator was designed and manufactured, based on the study of the fish bone-muscle texture and structure. Mechanical properties of the actuator model were theoretical analyzed, swinging angle, blocked force and response of actuators were tested, the stability of actuators was analyze