介电弹性体式蛙型仿生软体机器人设计

doi:10.3969/j.issn.1000-1093.2022.01.015

摘要/Abstract

摘要： 为实现机器人的小型化并增强其环境适应性，基于青蛙推进方式和软体材料的优势，设计出一种以介电弹性体为执行器的蛙型仿生软体机器人。根据材料拉伸特性，确定制作工艺并对执行器进行有限元仿真；对机器人进行腿部运动轨迹规划和真实水下试验；结合游泳时的各种运动参数，构建推进效率模型，确定最优的效率运动参数。试验结果表明：该机器人在频率2 Hz、电压5 kV供电时，最大游泳速度高达132 mm/s；与两栖动物的无因次模型参数对比发现，软体机器人的运动特性接近真实生物，具有良好的运动能力。

关键词: 软体水下机器人, 介电弹性体, 蛙型机器人, 效率模型

Abstract: A frog-shaped bionic soft robot with a dielectric elastomer as the actuator is designed based on the advantages of frog propulsion method and soft materials for realizing the miniaturization of robot and enhancing its environmental adaptability. According to the tensile properties of material, the manufacturing process was determined and the actuator was simulated by finite element method, and the motion trajectory planning and real underwater test of robot legs were carried out. A propulsion efficiency model was constructed by considering various parameters during swimming, and the most efficient motion parameters were determined. Experimental results show that the maximum swimming speed of the robot is as high as 132 mm/s at a frequency of 2 Hz and a voltage of 5 kV. Compared with the dimensionless model parameters of amphibians, the motion characteristics of the robot are close to those of real creatures, and it has good motion capability.

Key words: underwatersoftrobot, dielectricelastomer, frog-shapedrobot, efficiencymodel

中图分类号:

TP242.3

李庆中，李晓丹，于福杰，陈原. 介电弹性体式蛙型仿生软体机器人设计[J]. 兵工学报, 2022, 43(1): 140-147.

LI Qingzhong, LI Xiaodan, YU Fujie, CHEN Yuan. Dielectric Elastomer-driven Frog-shaped Bionic Soft Robot[J]. Acta Armamentarii, 2022, 43(1): 140-147.

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