研究了介电型电活性聚合物(DEAP)驱动器的机电能量转换机理、能量损耗和驱动效率。建立了驱动器机电能量转换模型, 并通过试验测算了驱动器等效电路的模型参数, 分析了电极材料等因素对DEAP相对介电常数的影响。深入研究了驱动器漏电流损耗, 试验验证了漏电流对驱动器性能的影响。最后, 设计了驱动器驱动试验台, 完成了不同行程的准静态驱动试验, 数值计算了驱动器的驱动效率。结果表明: 由于等效电路电容未参与能量转换, 驱动器机电转换效率分别为17.6%和25.6%。低电压、小行程驱动时, 试验误差与理论分析误差不超过15%; 而高电压、大行程驱动时, DEAP膜的漏电流等非线性因素使其驱动效率变化明显。该结果可为DEAP圆柱形驱动器的优化设计及合理使用提供指导。

This paper focuses on the electromechanical conversion mechanism, energy losses and drive efficiencies of cylindrical actuators based on Dielectric Electroactive Polymer (DEAP). A electromechanical energy conversion model was established, the parameters for the equivalent circuit model of an actuator were measured and calculated through experiments, and the influence of the some factors such as electrode materials on the relative dielectric constant of the DEAP were analyzed. The current leakage loss of the actuator was studied, and the effect of the current leakage loss on the performance of the actuator was verified through experiments. Finally, a test bench for the actuator was designed for fulfilling the quasi-static actuation experiments of different strokes, and the driving efficiency of the actuator was calculated through numerical method. The results show that the electromechanical energy conversion efficiency is about 17.6% and 25.6% because the equivalent capacitor of the circuit is not involved in energy convertion.Moreover, the discrepancy between the experiment and the theoretical analysis is less than 15% when the actuator is drived by a low voltage and a short stroke, but the efficiency will be changed obviously when it is drived by a high voltage and a large stroke owing to the nonlinear factors such as the current leakage of DEAP membrane. These analyses offer a guidance for the optimal design and correct operation of DEAP cylindrical actuators.