A soft creeping robot actuated by dielectric elastomer
A soft creeping robot actuated by dielectric elastomer
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DOI：
10.1117/12.2044439
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发表时间：
2014-03
期刊：
影响因子：
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通讯作者：
Jianwen Zhao;Junyang Niu;Liwu Liu;Jiangcheng Yu
中科院分区：
文献类型：
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作者：
Jianwen Zhao;Junyang Niu;Liwu Liu;Jiangcheng Yu
与其他人工肌肉相比，介电弹性体作动器在高能量密度、大变形方面具有明显的优势。由介电弹性体驱动的机器人重量更轻，成本更低，在基于一组微型机器人的未来行星探测领域显示出巨大的潜力。在此背景下，设计了一种相当简单的爬行结构，使机器人变得更轻。该机器人的执行机构由一个椭圆形框架组成，在电场作用下可与薄膜发生伸缩。在加入四个驱动单元后，机器人可以协同前进。给出了机器人的制作和初步实验，并演示了所提出的运动原理。
Dielectric elastomer actuator showed significant advantages at high energy density, large deformation with comparing to other artificial muscle. The robot actuated by dielectric elastomer will be more lightweight and have lower cost, which shows great potential in field of future planetary exploration based on a group of micro-robot. In this context, a quite simple structure for creeping was designed to make the robot more lightweight. The actuation unit of the robot is made of an ellipse frame which can expand and contract with membrane under electric field. After joining four actuation units, the robot can move forward in a cooperative manner. Fabrication and some preliminary experiments of the robot were presented and the proposed motion principle was demonstrated.