用介电弹性体驱动柔性并联机器人，提升力与行程平衡，实现精准运动预测。
Design, manufacturing, and inverse dynamic modeling of soft parallel robots actuated by dielectric elastomer actuators
- 设计角位移放大机构与3D拼接结构，优化力-行程平衡并减重。
- 实验验证输出力预测误差12.4%，轨迹跟踪误差小于2.5%。
- 适合对安全交互和精密操作有需求的研究者或工程应用。
具有操作安全性和低成本优势的柔性并联机器人在精细作业与人机安全交互中前景广阔。然而，电活性聚合物（EAPs）的应用仍受限于产品品质不足及多执行器协同动态建模难题。本文提出一种由介电弹性体执行器（DEAs）驱动的并联构型Delta机器人，通过角位移放大机构优化了驱动力与行程之间的权衡，并采用3D拼接条状结构降低机器人本体重量。通过激光扫描处理介电薄膜后，采用导电颗粒与光敏树脂混合的涂料构建高稳定性导电电极，相比常用的碳膏，其动态行为在待机测试前后更一致。为预测末端输出力与逆向运动，引入扩展的Bergstrom-Boyce模型描述介电膜本构行为，构建逆动力学模型。实验表明，当末端静止时输出力预测均方根误差（RMSE）为12.4%；轨迹跟踪误差低于2.5%。
原文摘要 · Abstract (English)
Soft parallel robots with their manipulation safety and low commercial cost show a promising future for delicate operations and safe human-robot interactions. However, promoting the use of electroactive polymers (EAPs) is still challenging due to the under-improving quality of the product and the dynamic modelling of the collaborations between multiple actuators. This article presents the design, fabrication, modelling and control of a parallel kinematics Delta robot actuated by dielectric elastomer actuators (DEAs). The trade-off between the actuation force and stroke is retaken by an angular stroke amplification mechanism, and the weight of the robot frame is reduced by utilizing 3D puzzling strip structures. A generic way of constructing a high-stability conductive paint on a silicon-based film has been achieved by laser scanning the DE-film and then sandwiching a conductive particle-based electrode with a paint which is mixed by the particles and photosensitive resin. Compared to the wildly used carbon grease, the fabricated electrode shows a higher consistency in its dynamic behaviour before and after the on-stand test. Finally, to predict the output force and inverse motion of the robot end effector, we constructed the inverse dynamic model by introducing an expanded Bergstrom-Boyce model to the constitutive behavior of the dielectric film. The experimental results show a prediction of robot output force with RSME of 12.4% when the end effector remains stationary, and a well-followed trajectory with less than RSME 2.5%.
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