CN108481275A - A kind of full compliant movement platform of six degree of freedom based on dielectric elastomer - Google Patents

Abstract

The invention discloses a six-degree-of-freedom fully compliant motion platform based on a dielectric elastic body, which includes four independent modules of the same structure and a cross-shaped central crossbar platform connected to the four independent modules at the same time. The independent modules include fixed supports The seat and the upper frame are pre-stretched and clamped and fixed on the dielectric elastomer film between the fixed support and the upper frame. The front and back sides of the dielectric elastomer film are divided into four equal areas The four sub-regions are coated with conductive coatings isolated from each other, the middle of the front and back sides of the dielectric elastomer film is symmetrically bonded with a cross, each of the cross-shaped central crossbar platform The ends are respectively fixedly connected with the center of the corresponding cross. The invention realizes six-degree-of-freedom movement by switching the on-discharge of different regions, effectively reduces manufacturing costs and maintenance costs, improves energy conversion efficiency, and has simple structure, light weight, small volume, good flexibility and adaptability.

Description

A six-degree-of-freedom fully compliant motion platform based on a dielectric elastomer

technical field

The invention relates to a compliant motion platform, in particular to a six-degree-of-freedom full compliant motion platform based on a dielectric elastic body, which can realize low-cost, light-weight and high-efficiency positioning.

Background technique

At present, the motion platforms widely used in the industry are composed of mechanical structures made of metal materials. These motion platforms are often complex in structure, expensive, large in size, heavy in mass, and low in energy conversion efficiency. In addition, the driving and structure of the rigid motion platform are separated, the control is complex and the maintenance and manufacturing costs are high. The relatively fixed form of the internal structure of the rigid motion platform limits its movement in some environments and does not have good adaptability itself. With the development of science and technology, there are higher requirements for new driving methods and structural methods. This traditional type of rigid motion platform cannot meet the requirements of future motion platforms for light weight, simple structure, low price and high energy conversion efficiency.

The slowly emerging and gradually increasing demand for higher energy conversion efficiency in recent decades has attracted a large number of researchers to develop high-efficiency and more adaptable materials. As a kind of intelligent driving material, dielectric elastomer can achieve high energy conversion efficiency and realize the miniaturization of electromechanical system and has high flexibility, which has attracted more and more attention from the outside world. As a kind of intelligent material, dielectric elastomer Elastomers can achieve electrostriction under the drive of an electric field, and their potential simple structure, low cost, and high energy density make them have great application value in the drive field.

This invention improves and innovates the deficiencies of the traditional motion platform, and proposes a six-degree-of-freedom fully compliant motion platform based on dielectric elastomers, which effectively reduces the The manufacturing cost and maintenance cost are improved, and the energy conversion efficiency is improved, and it has the characteristics of simple overall configuration, light weight and small volume.

Contents of the invention

The purpose of the present invention is to avoid some shortcomings of the existing six-degree-of-freedom motion platform and provide a new type of fully compliant motion platform with simple structure and high energy conversion efficiency, which can ensure its low-cost and high-efficiency work.

The technical solution adopted by the present invention to solve its technical problems is:

A six-degree-of-freedom fully compliant motion platform based on a dielectric elastomer, including a hollow cube surrounded by four independent modules of the same structure, a cross-shaped central crossbar platform located in the hollow cube and connected to the four independent modules at the same time , the independent module includes a fixed support with a geometric hollow part in the middle, an upper frame with a corresponding geometric hollow part, and the dielectric between the fixed support and the upper frame is clamped and fixed by edge pre-stretching. Elastomer film, the front and back sides of the dielectric elastomer film are divided into four sub-regions with equal areas by a "cross-shaped" dividing line, and the four sub-regions are coated with conductive coatings isolated from each other, and the conductive coating The coatings are energized through the corresponding leads, and the middle parts of the front and back sides of the dielectric elastomer film are symmetrically bonded with a cross, and each end of the cross-shaped central crossbar platform is fixedly connected to the center of the corresponding cross respectively. .

This scheme releases the internal stress of the original pre-stretched dielectric elastomer through the discharge of electrodes in different regions, allowing the cross to move in four directions, front, back, left, and right. At the same time, through the different conductive coatings between the four independent modules The discharge of the layer can realize the movement and rotation in each axis direction.

Further, the cross-shaped central cross-bar platform includes a rectangular end-effector platform and two cross-shaped intersecting hard cross-bars, the end-effector platform is fixed at the intersection of the two hard cross-bars, and the two Each end of the hard cross bar is fixedly connected with the center of the corresponding cross.

Further, the materials of the fixed support and the upper frame are both plexiglass or fiberglass.

Further, bolt holes are provided on the front and bottom ends of the fixed support, and the shape of the front matches the shape of the upper frame.

Further, the shape of the geometric hollow part is square or circular.

Further, the material of the conductive coating is conductive ink.

Further, the dielectric elastomer film material is polyacrylic acid film.

Further, the number of layers of the dielectric elastomer film is more than two, the thickness of each layer of the dielectric elastomer film is 0.1mm, and the shear modulus is 25100KPa.

Further, the material of the cross is plexiglass or fiberglass.

Further, the center of the cross overlaps with the center of the dielectric elastomer film.

Compared with the prior art, the outstanding effects of the present invention are:

Compared with traditional complex, bulky and expensive motion platforms made of metal materials, this six-degree-of-freedom motion platform has compact structure, reliable control, low maintenance and manufacturing costs, and high energy conversion efficiency. This platform has no complicated mechanical hard structure and transmission system, so it can realize the function of six-degree-of-freedom movement by switching the on-discharge in different areas, and it is very convenient for assembly, debugging and positioning. On the other hand, the price of this platform is relatively low, without complex and expensive drive control system and mechanical structure, it can be popularized and applied, and this platform is completely compliant and has good adaptability.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a single module in an embodiment of the present invention.

Fig. 3 is a schematic diagram of the fixed support of the embodiment of the present invention.

Figure 4 Electrode distribution of the dielectric elastomer film of the present invention

Fig. 5 is a schematic diagram of the upper frame of the embodiment of the present invention.

Fig. 6 is a schematic diagram of a cross according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of the central cross-bar platform of the present invention.

8a to 8f are schematic diagrams of the movement process of the embodiment of the present invention.

In the figure: 1 - upper frame; 2 - dielectric elastomer film; 3 - fixed support; 4 - cross; 5 - central crossbar platform; 6 - end execution platform.

Detailed ways

The following is a detailed description of the embodiments of the present invention. This embodiment takes the present invention as a technical solution for implementation, and has detailed implementation methods and specific operation processes. The protection scope of the present invention is not limited to the following examples.

As shown in Figures 1 and 2, a six-degree-of-freedom full-compliant motion platform based on a dielectric elastomer includes four independent modules of the same structure that are surrounded by a hollow cube, located in the hollow cube and connected to four The cross-shaped central crossbar platform 5 of the independent module, the independent module includes a fixed support 3 with a geometric hollow part in the middle, and an upper frame 1 with a corresponding geometric hollow part, which is clamped and fixed by pre-stretching the edges The dielectric elastomer film 2 between the fixed support 3 and the upper frame 1, the front and back sides of the dielectric elastomer film 2 are divided into four sub-regions with equal areas by the "cross" dividing line, the four The two sub-regions are coated with conductive coatings isolated from each other, and the conductive coatings are all drawn out through corresponding wires to be energized, and the middle parts of the front and back sides of the dielectric elastomer film 2 are symmetrically bonded with a cross 4, the Each end of the cross-shaped central crossbar platform 5 is fixedly connected to the center of the corresponding cross 4 respectively.

As shown in FIG. 3 , the front and bottom ends of the fixed support 3 are provided with bolt holes, and the shape of the front matches the shape of the upper frame 1 . The bolt holes at the bottom are convenient for fixing with other platforms, and the bolt holes on the front are convenient for fixed connection with the upper frame 2. The material of the fixed support 3 is plexiglass, and its modulus of elasticity is 3GPa, which can be obtained by machining .

As shown in Figure 4, the dielectric elastomer film 2 is provided with four mutually independent sub-regions coated with a conductive coating, and the upper and lower sides of the four mutually independent sub-regions are all coated with a conductive coating as a conductive coating. The electrodes are easy to drive, and the material of the conductive coating is conductive ink. The material of the dielectric elastomer film 2 is polyacrylic acid film, which can realize electrostriction when electrified.

As shown in Figure 5, the upper frame 1 matches the shape of the fixed support 3, the material is plexiglass, the shape of the geometric hollow part is square, and the upper frame 1 is pasted with multi-layer pre-stretched The dielectric elastomer film 2 has a thickness of 0.1 mm per layer and a shear modulus of 25100 KPa.

As shown in Figure 6, the cross 4 is glued to the upper and lower sides of the dielectric elastomer film 2 to be used as a support platform, and the support platform must be attached to the center of the dielectric elastomer film 2, that is, the The center of the cross 4 overlaps the center of the dielectric elastomer film 2 . The center processing of cross 4 has through hole, is convenient to cooperate with central cross bar.

As shown in Figure 7, the central cross bar platform 5 is used as the output end of the whole platform, and includes a rectangular end effector platform 6 and two hard cross bars intersecting in a cross shape, and the end effector platform 6 is fixed on two At the intersection of the two hard cross bars, the two hard cross bars are fixedly connected with the through holes of each cross 4 through the shaft hole fit and transmit the force and displacement required by the platform.

The six-degree-of-freedom motion platform as shown in Figures 8(a) to 8(f) can exhibit different motion trends when different areas are electrified, and the black area in the figure indicates that this area is electrified. In Figure 8(a), the four independent modules are A, B, C, and D respectively. As shown in Figure 8(a), when the right half of B and the right half of D are energized, the platform will produce a displacement in the x-axis direction, as shown in Figure 8(b), when the left half of C and A When the left half of A, B, C, and D are powered on, the platform will produce a displacement in the y-axis direction, as shown in Figure 8(c). When the lower half of A, B, C, and D are energized, the platform will produce a displacement in the z-axis direction, as As shown in Figure 8(d), when the upper half of B and the lower half of D are energized, the platform will rotate in the x-axis direction, as shown in Figure 8(e), when the lower half of C and the lower half of A When the upper part is energized, the platform will rotate in the y-axis direction. As shown in Figure 8(f), when the left half of B and C and the right half of A and D are energized, the platform will rotate in the z-axis direction. rotate. For the sake of convenience, the smear distribution of the conductive coating after the platform is moved is not shown here.

This example has simple structure, good adjustability, low price, simple control, low manufacturing and maintenance, and high energy conversion efficiency; through the combination of electricity in different regions, including the combination of the upper, lower, left, and right parts of each dielectric elastomer film 2, it can be Realizing six-degree-of-freedom motion can meet the basic requirements of a six-degree-of-freedom motion platform, and can provide more reliable help for positioning operations.

The above-mentioned embodiment combines intelligent materials to realize the integration of body drive. The platform has excellent features such as full compliance, high flexibility, and easy control. It can greatly improve the efficiency in the positioning and operation of the motion platform, and has broad application prospects.

The above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (10)

1. A six-degree-of-freedom full-compliance motion platform based on a dielectric elastic body is characterized in that it comprises four independent modules of the same structure enclosed into a hollow cube, is located in the hollow cube and connects four independent modules simultaneously. The cross-shaped central cross-bar platform (5) of the module, the independent module includes a fixed support (3) with a geometric hollow part in the middle, an upper frame (1) with a corresponding geometric hollow part, pre-tensioned by the edge The dielectric elastomer film (2) is stretched and clamped and fixed between the fixed support (3) and the upper frame (1), and it is characterized in that: the front and back sides of the dielectric elastomer film (2) pass through the "ten The "glyph" dividing line is divided into four sub-regions with equal areas, and the four sub-regions are coated with conductive coatings isolated from each other, and the conductive coatings are all energized through the corresponding wire leads. A cross (4) is symmetrically glued to the middle of the front and back sides of the film (2), and each end of the cross-shaped central crossbar platform (5) is fixedly connected to the center of the corresponding cross (4). 2. The six-degree-of-freedom fully compliant motion platform based on a dielectric elastomer according to claim 1, characterized in that: the cross-shaped central crossbar platform (5) includes a rectangular end-effector platform (6), which is Two rigid crossbars intersecting in a cross shape, the end effector platform (6) is fixed at the intersection of the two rigid crossbars, and each end of the two rigid crossbars is fixedly connected to the center of the corresponding cross (4) . 3. The six-degree-of-freedom fully compliant motion platform based on dielectric elastomers according to claim 1, characterized in that: the materials of the fixed support (3) and the upper frame (1) are both plexiglass or fiberglass . 4. The six-degree-of-freedom fully compliant motion platform based on a dielectric elastomer according to claim 1, characterized in that: the front and bottom ends of the fixed support (3) are provided with bolt holes and the shape of the front is Match the shape of the upper frame (1). 5. The six-degree-of-freedom fully compliant motion platform based on a dielectric elastomer according to claim 1, wherein the shape of the geometric hollow part is a square or a circle. 6. The six-degree-of-freedom fully compliant motion platform based on a dielectric elastomer according to claim 1, wherein the material of the conductive coating is conductive ink. 7. The six-degree-of-freedom fully compliant motion platform based on dielectric elastomer according to claim 1, characterized in that: the dielectric elastomer film (2) is made of polyacrylic acid film. 8. The six-degree-of-freedom fully compliant motion platform based on dielectric elastomer according to claim 1, characterized in that: the number of layers of the dielectric elastomer film (2) is more than two layers, and each layer of dielectric elasticity The bulk film (2) has a thickness of 0.1mm and a shear modulus of 25100KPa. 9. The six-degree-of-freedom fully compliant motion platform based on a dielectric elastomer according to claim 1, characterized in that: the material of the cross (4) is plexiglass or fiberglass. 10. The dielectric elastomer-based six-degree-of-freedom fully compliant motion platform according to claim 1, characterized in that: the center of the cross (4) overlaps with the center of the dielectric elastomer film (2).