多层压电薄膜提升软体微机器人性能，兼具高响应与低驱动电压。
Multilaminate piezoelectric PVDF actuators to enhance performance of soft micro robots
- 采用并联分压设计的多层PVDF薄膜，平衡刚性与柔性
- 实现超3毫米自由偏移、20毫牛阻塞力和500赫兹以上响应
- 适用于需抗扰动的微机器人系统，适合精密驱动场景
多层压电聚偏氟乙烯（PVDF）致动器是提升软体微机器人系统性能的有前景方案。本文开发并表征了具有各层并联电压分布的多层PVDF致动器，填补了脆性高力PZT堆叠与柔顺但带宽较低的软聚合物致动器之间的设计空白。通过调节层数和单层厚度，我们展示了其性能与第一性原理模型的一致性。优化后的致动器在仅150伏电压下即可实现超过3毫米的自由偏移、超过20毫牛的阻塞力以及不低于500赫兹的响应频率。为验证其在机器人中的集成潜力，我们将该致动器用于平面平移微机器人，利用共振实现运动，表现出对大扰动的鲁棒性。
原文摘要 · Abstract (English)
Multilayer piezoelectric polyvinylidene fluoride (PVDF) actuators are a promising approach to enhance performance of soft microrobotic systems. In this work, we develop and characterize multilayer PVDF actuators with parallel voltage distribution across each layer, bridging a unique design space between brittle high-force PZT stacks and compliant but lower-bandwidth soft polymer actuators. We show the effects of layer thickness and number of layers in actuator performance and their agreement with a first principles model. By varying these parameters, we demonstrate actuators capable of >3 mm of free deflection, >20 mN of blocked force, and >=500 Hz, while operating at voltages as low as 150 volts. To illustrate their potential for robotic integration, we integrate our actuators into a planar, translating microrobot that leverages resonance to achieve locomotion with robustness to large perturbations.
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