Bionic transformation link robot based on electroactive polymers

Abstract

The invention provides a bionic transformation link robot based on electroactive polymers. The bionic transformation link robot comprises multiple longitudinal muscles and circular muscles, wherein the longitudinal muscles and the circular muscles are sequentially connected. Four extension parts are arranged at the four corners of each longitudinal muscle, the extension parts are connected with the circular muscles on the two sides of the longitudinal muscles, and a set of bristles and a set of balance weights are fixed to the two sides of each circular muscle. One longitudinal muscle and one circular muscle are added to any section, one link can be added, and the length of the bionic transformation link robot can be flexibly controlled through repeated increase and decrease. The motion mode of earthworms is simulated, high voltages with the same period and different phases are added to the longitudinal muscle and the circular muscle of each link respectively, when the friction force between one circular muscle and the ground is largest, the friction force between the other circular muscle and the ground is smallest, meanwhile, the longitudinal muscles longitudinally extend, and the aim of moving the link robot in the fixing direction is achieved.

Description

technical field [0001] The invention relates to a bionic deformation link robot in the field of bionic robots, in particular to a soft bionic link robot based on an electroactive polymer. Background technique [0002] Recently, in order to solve complex engineering problems, human beings continue to imitate the wisdom of nature, and bionics is developing day by day. As one of the earliest animals in the biological world that can move flexibly on land, the undulating motion of annelids such as earthworms is receiving widespread attention in biology. However, the bionic research on this simple and effective motion is still in its infancy. stage. The isochronic segmentation of annelids significantly improves their locomotion ability and facilitates the modularization of biomimetic robots. Annelids move through the relaxation of circular muscles and longitudinal muscles, and their soft bodies make it possible to move in extreme environments. Based on these motion characterist...

AI Technical Summary

Problems solved by technology

The prefabricated skeleton limits the number of robot links, making it impossible to exchange motion speed for a smaller volume by reducing links in practical applications

SMA actuators are alloys in nature, and their rigid characteristics limit the ability of the robot to traverse obstacles in extreme environments in a reduced size

The response time of the SMA driver is long, so that the robot can only move at a maximum speed of 0.22mm / s

In addition, the process of implanting SMA microsprings in silicon capsules to make SMA actuators requires fine processing, which increases the difficulty of robot preparation.

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