ABB 57350001-FN DSHC 110 DMI 控制器

　　现在，这些研究人员开创了一种制造技术，使他们能够制造出比当前版本低 75% 的电压，同时承载更多 80% 的有效载荷的软致动器。这些软致动器就像人造肌肉，可以快速拍打机器人的翅膀。

　　这种新的制造技术可以生产出缺陷更少的人造肌肉，从而大大延长了部件的使用寿命并提高了机器人的性能和有效载荷。

　　这个长方形微型机器人的重量不到四分之一美分，有四组机翼，每组机翼都由一个软致动器驱动。这些类似肌肉的致动器由夹在两个非常薄的电极之间的弹性体层制成，然后卷成一个柔软的圆柱体。当向致动器施加电压时，电极会挤压弹性体，并且该机械应变用于拍打机翼。

　　致动器的表面积越大，所需的电压就越少。因此，研究小组通过在尽可能多的超薄弹性体和电极层之间交替来构建这些人造肌肉。随着弹性体层变薄，它们变得更加不稳定。

　　研究人员次能够制造出具有 20 层的致动器，每层的厚度为 10 微米。在他们创建了 20 层人造肌肉后，他们将其与之前的六层版本和的刚性执行器进行了测试。

　　在升空实验中，需要不到 500 伏电压的 20 层执行器提供了足够的功率，使机器人的升重比为 3.7 比 1，因此它可以携带几乎是其重量三倍的物品.

　　据研究人员称，他们还展示了 20 秒的悬停飞行，这是亚克机器人有史以来最长的一次。20层驱动器在驱动超过200万次后仍能平稳运行，远超其他驱动器的寿命。

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　　Now, these researchers have pioneered a fabrication technique that enables them to build soft actuators that operate with 75 percent lower voltage than current versions while carrying 80 percent more payload. These soft actuators are like artificial muscles that rapidly flap the robot’s wings.

　　This new fabrication technique produces artificial muscles with fewer defects, which dramatically extends the lifespan of the components and increases the robot’s performance and payload.

　　The rectangular micro-robot, which weighs less than one-fourth of a penny, has four sets of wings that are each driven by a soft actuator. These muscle-like actuators are made from layers of elastomer that are sandwiched between two very thin electrodes and then rolled into a squishy cylinder. When voltage is applied to the actuator, the electrodes squeeze the elastomer, and that mechanical strain is used to flap the wing.

　　The more surface area the actuator has, the less voltage is required. So, the research team build these artificial muscles by alternating between as many ultrathin layers of elastomer and electrode as they can. As elastomer layers get thinner, they become more unstable.

　　For the first time, the researchers were able to create an actuator with 20 layers, each of which is 10 micrometers in thickness. After they created a 20-layer artificial muscle, they tested it against their previous six-layer version and state-of-the-art, rigid actuators.

　　During liftoff experiments, the 20-layer actuator, which requires less than 500 volts to operate, exerted enough power to give the robot a lift-to-weight ratio of 3.7 to 1, so it could carry items that are nearly three times its weight.

　　They also demonstrated a 20-second hovering flight, the longest ever recorded by a sub-gram robot, according to the researchers. The 20-layer actuator was still working smoothly after being driven for more than 2 million cycles, far outpacing the lifespan of other actuators.