Dynamics of gel robots made of electro-active polymer gel
Dynamics of gel robots made of electro-active polymer gel
复制标题
电活性聚合物凝胶凝胶机器人的动力学
DOI：
10.1109/robot.2001.932815
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
H. Inoue
中科院分区：
文献类型：
--
作者：
M. Otake;Y. Kagami;M. Inaba;H. Inoue
本文提出了一种预测完全由电活性聚合物凝胶制成的弹性机器人动态运动的模型。要求是同时描述主动和被动变形。主动变形是由产生的应力引起的，而被动变形是由于外力（例如重力和摩擦力）引起的。我们将两者表示在同一框架中，将它们视为凝胶机器人与环境之间电化学或机械相互作用的结果。我们通过比较使用原型凝胶机器人进行模拟和实验获得的结果来评估该模型。一项实验涉及撞击外部物体，另一项实验涉及在表面上休息时弯曲。我们概述了该模型，并讨论了实验结果和未来的工作。
This paper proposes a model for predicting the dynamic motions of elastic robots made entirely of electro-active polymer gel. The requirement is that both the active and passive deformations be described simultaneously. Active deformations arise from a generated stress, while passive deformations are due to external forces, such as gravity and friction. We represent both in the same framework, considering them as the result of either electrochemical or mechanical interaction between the gel robot and the environment. We evaluated the model by comparing the results obtained through simulations and experiments using prototype gel robots. One experiment involved hitting an external object, and the other involved bending while resting upon a surface. We present an overview of the model, with a discussion of the experimental results and future work.