用机器人自动测试优化柔性执行器寿命，提升100%耐久性。
A Robotic Testing Platform for Pipelined Discovery of Resilient Soft Actuators
- 搭建可自动扫描的机器人测试平台，实现多参数并行测试。
- 最优参数组合使执行器寿命提升最高100%，支持更大负载输出。
- 首次将自驱动实验室方法用于机器人执行器设计，适合自动化研发团队。
高电场下线性介电弹性体执行器（DEA）寿命短，限制其在机器人中的广泛应用。由于单个样品测试耗时长且参数空间维度高，系统性扫描难以实现。为此，我们提出一种基于新型测试机器人的优化流程，可自动扫描DEA寿命。该机器人集成电-机械性能测量、可编程电压输入与多通道测试能力。利用它，我们在输入电压幅值、频率、电极材料浓度及电气连接填料等参数范围内，系统评估了基于Elastosil的线性执行器寿命。最优参数组合使边界工况下的运行寿命提升高达100%，并成功放大实现更高推力与位移输出。最终产品在模块化可扩展的四足行走机器人上验证了卓越鲁棒性，具备携带超过自身无缆重量100%的载荷，以及超过所有执行器总重700%的承载能力。本工作首次将自驱动实验室方法引入机器人执行器设计。
原文摘要 · Abstract (English)
Short lifetime under high electrical fields hinders the widespread robotic application of linear dielectric elastomer actuators (DEAs). Systematic scanning is difficult due to time-consuming per-sample testing and the high-dimensional parameter space affecting performance. To address this, we propose an optimization pipeline enabled by a novel testing robot capable of scanning DEA lifetime. The robot integrates electro-mechanical property measurement, programmable voltage input, and multi-channel testing capacity. Using it, we scanned the lifetime of Elastosil-based linear actuators across parameters including input voltage magnitude, frequency, electrode material concentration, and electrical connection filler. The optimal parameter combinations improved operational lifetime under boundary operating conditions by up to 100% and were subsequently scaled up to achieve higher force and displacement output. The final product demonstrated resilience on a modular, scalable quadruped walking robot with payload carrying capacity (>100% of its untethered body weight, and >700% of combined actuator weight). This work is the first to introduce a self-driving lab approach into robotic actuator design.
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