沈阳航空航天大学学报2025，Vol.42Issue(4)：45-50,6.DOI:10.3969/j.issn.2095-1248.2025.04.007
离子液体凝胶软体致动器机电耦合模型建模技术
Modelling technology for electromechanical coupling models of ionic liquid gel soft actuator
摘要
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.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Key words
ionic liquid gel/electroactive polymer/soft actuator/equivalent transformer model/electromechanical coupling分类
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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):45-50,6.基金项目
贵州省教育厅开放课题(项目编号:黔教技[2022]439号). （项目编号:黔教技[2022]439号）
