离子液体凝胶软体致动器机电耦合模型建模技术

田广平; 蔡永建; 张成红

doi:10.3969/j.issn.2095-1248.2025.04.007

沈阳航空航天大学学报 >

2025 , Vol. 42 >Issue 4: 45 - 50

DOI: https://doi.org/10.3969/j.issn.2095-1248.2025.04.007

机械与材料工程

离子液体凝胶软体致动器机电耦合模型建模技术

田广平 ^,¹ ,
蔡永建 ² ,
张成红 ³

展开

^1. 国营锦江机械厂再制造事业部，成都 610043
^2. 江苏省江都水利工程管理处第二抽水站管理所，江苏扬州 225299
^3. 贵阳学院电子信息工程学院，贵阳 550005

田广平（1980—），男，山东文登人，工程师，博士，主要研究方向为直升机结构可靠性及仿真分析，E-mail： tiangp@aliyun.com。

收稿日期: 2024-12-30

修回日期: 2025-02-22

录用日期: 2025-02-01

网络出版日期: 2025-08-19

基金资助

贵州省教育厅开放课题(黔教技〔2022〕439号)

收起

Modelling technology for electromechanical coupling models of ionic liquid gel soft actuator

Guangping TIAN ^,¹ ,
Yongjian CAI ² ,
Chenghong ZHANG ³

Expand

^1. Remanufacturing Division，State-owned Jinjiang Machinery Factory，Chengdu 610043，China
^2. Management Office of the Second Pumping Station，Jiangdu Key Water Conservancy Project，Yangzhou 225299，China
^3. School of Electronic Information Engineering，Guiyang University，Guiyang 550005，China

Received date: 2024-12-30

Revised date: 2025-02-22

Accepted date: 2025-02-01

Online published: 2025-08-19

Fold

摘要

为了深入研究离子液体凝胶（ionic liquid gel，ILG）作为离子电活性聚合物的驱动性能，设计了一种基于ILG的新型软体致动器，并对ILG软体致动器机电耦合模型进行了详细研究。根据电活性聚合物的材料特性和电流响应规律，基于Claudia Bonomo提出的离子聚合物—金属复合材料致动器等效变压器模型，建立了ILG软体致动器的机电耦合方程和驱动方程。采用最小二乘法对ILG软体致动器的耦合模型进行辨识，分析结构参数对软体致动器末端位移和驱动力的影响，为软体致动器的控制提供理论基础。离子液体凝胶软体致动器的机电耦合模型的建立，可为高性能软体机器人的发展奠定基础。

关键词： 离子液体凝胶; 电活性聚合物; 软体致动器; 等效变压器模型; 机电耦合

本文引用格式

田广平 , 蔡永建 , 张成红 . 离子液体凝胶软体致动器机电耦合模型建模技术[J]. 沈阳航空航天大学学报, 2025 , 42(4) : 45 -50 . DOI: 10.3969/j.issn.2095-1248.2025.04.007

Abstract

In order to deeply study the driving performance of ionic liquid gel （ILG）as ionic electroactive polymer，developed a novel soft actuator based on ILG and conducted a detailed investigation into the electromechanical coupling model of the ILG soft actuator. According to the material properties and current response law of electroactive polymers，established electromechanical coupling equations and driving equations for ILG soft actuator based on the equivalent transformer model of ionic polymer-metal composite actuators proposed by Claudia Bonomo. The least squares method was used to identify the coupling model of the ILG soft actuator， and the influence of structural parameters on the end displacement and driving force of the soft actuator was analyzed， providing a theoretical basis for the control of soft actuators. The electromechanical coupling model of the ionic liquid gel soft actuator is established， which lays a foundation for the development of ionic liquid gel soft robots.

Key words： ionic liquid gel; electroactive polymer; soft actuator; equivalent transformer model; electromechanical coupling

[an error occurred while processing this directive]

参考文献

原文顺序 | 文献年度倒序 | 文中引用次数倒序

[1]	Hao X J， Wenren H Y， Wang X L，et al.A gel polymer electrolyte based on PVDF-HFP modified double polymer matrices via ultraviolet polyme-rization for lithium-sulfur batteries［J］.Journal of Colloid and Interface Science，2019，558（9）：145-154.

[2]	He B， Zhang C H， Zhou Y M，et al.A computing method to determine the performance of an ionic liquid gel soft actuator［J］.Applied Bionics and Biomechanics，2018，2018：8327867.

[3]	Guo F， Sun T， Wang P F，et al.Multi-stability of a planar three-limb flexible mechanism［J］.Mechanism and Machine Theory，2022，175：104956.

[4]	Zhao J C， Wang X Y， Meng C，et al.Dynamic mo-deling and analysis of thrust reverser mechanism considering clearance joints and flexible component［J］.Aerospace，2022，9（10）：611.

[5]	Zhang Y， Huang P Y， You B，et al.Design and motion simulation of a soft robot for crawling in pipes［J］.Applied Bionics and Biomechanics，2023，2023：5334604.

[6]	Wang R Q， Zhang C， Zhang Y W，et al.Fast-swimming soft robotic fish actuated by bionic muscle［J］.Soft Robotics，2024，11（5）：845-856.

[7]	Ma Z Q， Sameoto D.A review of electrically driven soft actuators for soft robotics［J］.Micromachines，2022，13（11）：1881.

[8]	Li D C， Fan D L， Zhu R J，et al.Origami-inspired soft twisting actuator［J］.Soft Robotics，2023，10（2）：395-409.

[9]	Annabestani M， Naghavi N， Maymandi-Nejad M.From modeling to implementation of a method for restraining back relaxation in ionic polymer-metal composite soft actuators［J］.Journal of Intelligent Material Systems and Structures，2018，29（15）：3124-3135.

[10]	He Q S， Yin G X， Vokoun D，et al.Review on improvement，modeling，and application of ionic polymer metal composite artificial muscle［J］.Journal of Bionic Engineering，2022，19（2）：279-298.

[11]	Olsen Z J， Kim K J.Characterizing the transduction behavior of ionic polymer-metal composite actuators and sensors via dimensional analysis［J］.Smart Materials and Structures，2022，31（2）：025014.

[12]	Lin F M， Xu H D， Wang T，et al.Development of IPMC actuators with high bending uniformity and orientation［J］.Smart Materials and Structures，2024，33（6）：065035.

[13]	Tamagawa H， Kojima I， Torii S，et al.Enhancement of IPMC bending controllability through immobile negative charges and electrochemically reactive substances within IPMC body［J］.Actuators，2024，13（12）：517.

[14]	Zhang W， Jin K， Ren Z，et al.High-performance MXene/carbon nanotube electrochemical actuators for biomimetic soft robotic applications［J］.Advanced Functional Materials，2024，34（48）：2408496.

[15]	Kondo K， Takagi K， Zhu Z C，et al.Symbolic finite element discretization and model order reduction of a multiphysics model for IPMC sensors［J］.Smart Materials and Structures，2020，29（11）：115037.

Options

文章导航