Soft crawling robot driven by super-spiral polymer actuator

Abstract

The invention discloses a soft crawling robot driven by a super-spiral polymer actuator. The device comprises a skin structure, a super-spiral polymer actuator, a return spring and a foot structure. According to the soft crawling robot driven by the super-spiral polymer actuator, the super-spiral polymer actuator and the return spring are arranged in parallel in a surface structure of the soft crawling robot with the advancing direction of the robot as the axis, and the surface structure is made of a polymer elastic material with telescopic deformation capacity. When the soft crawling robot ispowered on, the super-spiral polymer actuator generates heat to generate contraction action when powered on, and the left end of the soft crawling robot moves rightwards relative to the right end ofthe soft crawling robot under the limitation of the foot friction plates. When power is off, the super-spiral polymer actuator is cooled to recover to be elongated, and under the help of the return spring, the right end of the soft crawling robot moves rightwards relative to the left end of the soft crawling robot to rapidly recover to an initial shape.

Description

technical field [0001] The invention relates to the driving field of soft robots, in particular to a superhelical polymer used as an actuator to drive soft robots to crawl. Background technique [0002] In recent years, with the rapid development of materials science, bionics, and control theory, soft robots, as an important supplement to rigid robots, have attracted widespread attention from academia and industry. Soft robots are made from a variety of flexible materials. The use of flexible materials enables soft robots to theoretically have infinite degrees of freedom and realize more movement modes. Therefore, compared with traditional rigid robots, soft robots have the characteristics of light weight, simple structure, low noise and strong adaptability to unstructured environments. It will have broad application prospects in many fields such as military reconnaissance, disaster rescue and scientific detection. [0003] At present, soft robots are mainly composed of f...

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Problems solved by technology

[0004] In order to solve the problems of poor control performance, high processing cost and poor environmental adaptability in existing soft robots, the present invention provides a superhelical polymer actuated A soft crawling robot driven by an actuator. The shape memory alloy wire is replaced by a superhelical polymer actuator. Electromagnets and air pumps are used as actuators to improve the continuity and controllability of the crawling robot's movement. A return spring is used to ensure power failure. Return to the original shape more quickly, so that the soft crawling robot can move forward faster

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