Optimized design and performance testing of hydraulic electrostatic actuator

Hydraulic electrostatic actuators have become a research hotspot for their inherent flexibility and safety of human-machine interaction. This paper aims to combine the characteristics of dielectric elastomers and fluid actuators, enhancing the dielectric constant and breakdown field strength by modifying Al₂O₃ on the surface of nanostructured BaTiO₃ and in order to develop a hydraulic electrostatic actuator with silicone rubber as the matrix material. Single-factor experiments were firstly conducted to confirm the range of three factors affecting the actuation strain of the actuator: BaTiO₃@Al₂O₃ content, thickness of the silicone rubber elastomer film, and pre-stretching ratio coefficient. The response surface methodology was used to study the interactive influence of the above three influencing factors on the actuation strain. It was obtained that <i>A</i> has an insignificant influence on the actuation strain, <i>AB</i> has a significant influence on the actuation strain, and <i>B</i>, <i>C</i>, <i>AC</i>, and <i>BC</i> have a highly influence on the actuation strain. Maximizing actuation strain as the optimization objective yielded the combination results of each factor: BaTiO₃@Al₂O₃ content of 2.57%, thickness of 0.60 mm, and pre-stretching ratio coefficient of 2.50. Actuation strain tests were conducted with optimized parameters under no-load. The experimental results of the actuation strain test show that the relative error between the test value and the model prediction value of 16.47% is less than 5%, and the optimization model results are reliable. The optimized hydraulic electrostatic actuator was tested for actuation strain and electrical performance under different loads. The experiment showed that the maximum actuation strain of the hydraulic electrostatic actuator was 17.20% under a load of 100 g. The critical breakdown current of the actuator ranged from 115 μA to 130 μA, and the maximum electromechanical conversion efficiency of the actuator under different loads was 67.93%. Finally, a joint actuating device was developed based on the structure of the actuator, amplifying the output displacement of the actuator to 30 mm, and the linear displacement of the soft electro-fluid actuator can be converted into a 20° rotation angle through the gear steering mechanism, thus validating the effectiveness of the hydraulic electrostatic actuator.

液压静电驱动器因其固有的柔性与人机交互安全性，已成为当前的研究热点。本文旨在结合介电弹性体（dielectric elastomers）与流体驱动器（fluid actuators）的特性，通过在纳米结构钛酸钡（BaTiO₃）表面修饰三氧化二铝（Al₂O₃）以提升介电常数与击穿场强，进而开发以硅橡胶为基体材料的液压静电驱动器。首先开展单因素实验，明确影响该驱动器驱动应变（actuation strain）的三类因素的取值区间：BaTiO₃@Al₂O₃（三氧化二铝修饰钛酸钡）掺杂含量、硅橡胶弹性体薄膜厚度与预拉伸比系数。采用响应面法（response surface methodology）研究上述三类影响因素对驱动应变的交互作用。研究结果表明：因素A对驱动应变无显著影响，交互项AB对驱动应变存在显著影响，而因素B、C以及交互项AC、BC对驱动应变具有高度显著影响。以最大化驱动应变为优化目标，得到各因素的最优组合：BaTiO₃@Al₂O₃掺杂含量为2.57%、薄膜厚度为0.60mm、预拉伸比系数为2.50。采用优化后的参数开展空载下的驱动应变测试。驱动应变测试的实验结果表明，测试值与模型预测值的相对误差小于5%，其中16.47%为该相对误差的具体数值。对优化后的液压静电驱动器开展不同负载下的驱动应变与电学性能测试。实验结果表明，该驱动器在100g负载下的最大驱动应变为17.20%。该驱动器的临界击穿电流区间为115μA至130μA，不同负载下的最大机电转换效率（electromechanical conversion efficiency）可达67.93%。最后，基于该驱动器结构开发了联合驱动装置，将驱动器的输出位移放大至30mm；通过齿轮转向机构可将该柔性电液驱动器的直线位移转换为20°的旋转角度，从而验证了液压静电驱动器的应用有效性。

搜集汇总

背景与挑战

背景概述

该数据集记录了以硅橡胶为基体材料的液压静电执行器优化设计过程，包含BaTiO3@Al2O3含量、硅橡胶薄膜厚度和预拉伸比系数三因素的响应面实验数据。实验验证了优化模型可靠性，测得最大驱动应变为17.20%，最高机电转换效率达67.93%，并开发了联合驱动装置验证执行器有效性。