EAP柔性智能驱动材料的建模、控制及应用研究进展

doi:10.13973/j.cnki.robot.180210

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李梦梦, 李原, 王庆林. EAP柔性智能驱动材料的建模、控制及应用研究进展[J]. 机器人, 2018, 40(5): 660-672.DOI: 10.13973/j.cnki.robot.180210. LI Mengmeng, LI Yuan, WANG Qinglin. Research Progress on Modeling, Control and Application of EAPFlexible Intelligent Driving Materials. ROBOT, 2018, 40(5): 660-672. DOI: 10.13973/j.cnki.robot.180210.

摘要对电活性聚合物（EAP）材料的建模、控制及应用方面的研究进展进行了系统性的梳理．首先对现有的EAP材料的分类和电致动原理进行了概述．然后论述了EAP驱动材料的本构、迟滞、蠕变模型的建立，以及控制器的设计，并总结了EAP智能结构在仿生机器人、航空航天、能源等领域的应用．最后指出了EAP在材料性能、智能结构设计、系统建模和运动控制策略方面存在的研究难题，并展望了未来的研究方向．

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	李梦梦
	李原
	王庆林

关键词 ：电活性聚合物, 柔性驱动, 建模, 控制策略, 机器人

Abstract：The research progresses of modeling, control and application of electro-active polymer (EAP) materials are systematically reviewed. Firstly, the classification and electrical actuation principle of the existing EAP materials are summarized. Then, the establishment of constitutive, hysteresis and creep models of EAP driving materials and the design of controller are discussed, and the applications of EAP intelligent structures in bionic robot, aerospace and energy fields are summarized. Finally, the research problems of EAP in material performance, intelligent structure design, system modeling and motion control strategy are pointed out, and the future research directions are also forecasted.

Key words： electro-active polymer (EAP) flexible driving modeling control strategy robot

收稿日期: 2018-03-23 录用日期: 2018-07-06

TP242

基金资助:国家自然科学基金（61472037，61375100）

通讯作者: 李原,liyuan@bit.edu.com E-mail: liyuan@bit.edu.com

作者简介: 李梦梦(1989-),女,博士生.研究领域:智能机器人系统,迟滞非线性系统建模、控制,模糊滑模控制.
李原(1977-),男,博士,副教授.研究领域:智能机器人系统,机器人视觉测量与控制.
王庆林(1963-),男,博士,教授.研究领域:复杂系统建模、控制、决策与仿真,非线性控制,模糊控制,故障诊断.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.180210 或 https://robot.sia.cn/CN/Y2018/V40/I5/660

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