A two-stage magnetically enhanced buoyancy adjustment actuator based on dielectric elastomer

IF 2.6 4区 工程技术 Q2 MECHANICS Journal of Applied Mechanics-Transactions of the Asme Pub Date : 2023-10-16 DOI:10.1115/1.4063399
Xunuo Cao, Jiangshan Zhuo, Weifeng Zou, Xinge Li, Dongrui Ruan, Xuxu Yang, Fanghao Zhou, Tiefeng Li
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Abstract

Abstract The buoyancy adjustment capability is crucial for underwater robots. Dielectric elastomer (DE) is promising to be designed as inflatable actuators to achieve quiet, fast, and effective buoyancy adjustment. However, the buoyancy adjustment of DE actuators is limited by voltage amplification and controllability. This paper presents to solve the limitation of the DE buoyancy adjustment actuator by magnetic enhancement. An actuator is designed with a two-stage buoyancy adjustment capability. The two-stage adjustment strategy allows the actuator to achieve higher buoyancy adjustment at low voltage and controllable buoyancy adjustment at high voltage, where the switch between the two stages is achieved by tuning the snap of the magnet. A theoretical model is developed to assess the performance of the actuator in the two stages and describe the snap behavior. The experiment results agree with the simulation, and the actuator demonstrates the ability to adjust attitude by changing buoyancy at high voltages and rapidly ascending at low voltages. The multiple buoyancy adjustment capabilities of this actuator have the potential to enable the underwater robot to fulfill various complex task demands.
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一种基于介电弹性体的两级磁力增强浮力调节驱动器
摘要水下机器人的浮力调节能力至关重要。介电弹性体(DE)有望被设计为充气致动器,以实现安静、快速、有效的浮力调节。然而,电磁致动器的浮力调节受到电压放大和可控性的限制。本文提出了利用磁增强技术解决DE浮力调节作动器的局限性。设计了一种具有两级浮力调节能力的驱动器。两级调节策略允许执行器在低电压下实现更高的浮力调节,在高电压下实现可控的浮力调节,其中两级之间的切换是通过调整磁铁的卡扣来实现的。建立了一个理论模型来评估执行器在这两个阶段的性能并描述其断裂行为。实验结果与仿真结果一致,该驱动器具有在高压下通过改变浮力来调整姿态,在低压下快速上升的能力。该执行器的多重浮力调节能力有可能使水下机器人完成各种复杂的任务需求。
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来源期刊
CiteScore
4.80
自引率
3.80%
发文量
95
审稿时长
5.8 months
期刊介绍: All areas of theoretical and applied mechanics including, but not limited to: Aerodynamics; Aeroelasticity; Biomechanics; Boundary layers; Composite materials; Computational mechanics; Constitutive modeling of materials; Dynamics; Elasticity; Experimental mechanics; Flow and fracture; Heat transport in fluid flows; Hydraulics; Impact; Internal flow; Mechanical properties of materials; Mechanics of shocks; Micromechanics; Nanomechanics; Plasticity; Stress analysis; Structures; Thermodynamics of materials and in flowing fluids; Thermo-mechanics; Turbulence; Vibration; Wave propagation
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