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A soft bionic robot and soft crawler

A bionic robot and software technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems affecting the motion performance and functionality of the robot, occupying a large space for the driver, and occupying the volume of the robot, so as to optimize the mechanical properties of bending motion and reduce the mass. , the effect of high energy density

Active Publication Date: 2022-08-02
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, the structural design of soft robots is mainly based on the pneumatic drive method to realize the expansion and deformation drive of soft robots, which can achieve a large driving force and deformation, but its response speed is slow, and the air pressure channel occupies most of the volume of the robot, and the driver occupies space. If it is too large, the driving efficiency is low, which will affect the motion performance and functionality of the robot

Method used

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  • A soft bionic robot and soft crawler
  • A soft bionic robot and soft crawler
  • A soft bionic robot and soft crawler

Examples

Experimental program
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Effect test

Embodiment 1

[0026] like figure 1 , figure 2 and image 3 As shown, this embodiment provides a soft bionic robot finger, including an outer layer 1 of a dielectric elastomer artificial muscle, an inner support 2 of a silicone elastomer and two sealing covers 3; wherein the outer layer 1 of a dielectric elastomer artificial muscle A sealing cover 3 is provided on each of the two ends to form a cylindrical structure; the internal support 2 of the silicone elastomer includes a plurality of disc-shaped support sheets, and a plurality of disc-shaped support sheets are stacked on the cylindrical structure. A cylindrical shape is also formed inside, and the disc-shaped support sheets at both ends are bonded together with the sealing cover. At the same time, the sealing cover 3 and the outer layer 1 of the dielectric elastomer artificial muscle are also pasted together to form an installation space for the disc-shaped support piece; the diameter of the disc-shaped support piece is slightly smal...

Embodiment 2

[0036] This embodiment also discloses a soft crawler, which includes an outer layer of a dielectric elastomer artificial muscle, an inner support of the silicone elastomer, two sealing covers and a driving mechanism; the inner support of the silicone elastomer includes a plurality of circular A disc-shaped support sheet, a plurality of disc-shaped support sheets are stacked together to form a cylindrical structure; the dielectric elastomer artificial muscle is wound around the outer ring of the cylindrical structure to form a cylindrical outer layer, and both ends of the cylindrical outer layer are provided with An airtight cap for sealing. The driving mechanism provides an external electric field for the dielectric elastomer material to drive the software crawler to crawl.

[0037] Specifically, flexible electrodes are respectively provided on the inner surface and the outer surface of the outer layer of the dielectric elastomer artificial muscle, and the flexible electrodes ...

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Abstract

The invention discloses a soft bionic robot and a soft crawler, comprising a dielectric elastomer artificial muscle outer layer, an organic silicon elastomer inner support and two sealing covers; the organic silicon elastomer inner support comprises a plurality of discs A plurality of disc-shaped support sheets are stacked together to form a cylindrical structure, and the dielectric elastomer artificial muscle is wound around the outer ring of the cylindrical structure to form a cylindrical outer layer. A sealing cover is provided for sealing. The invention has extremely fast response speed, small mass, high energy density, small volume, and exists in the form of a thin film, which can make the robot produce large deformation; at the same time, as the support of the robot, the silicone elastomer breaks through the previous There are still limitations of rigid support components in the soft robot, which greatly improves the safety of the soft robot.

Description

technical field [0001] The invention relates to the field of soft robots and materials, in particular to a soft bionic robot and a soft crawler. Background technique [0002] At present, the structural design of the soft robot is mainly based on the pneumatic driving method, which realizes the expansion and deformation driving of the soft robot, which can achieve a large driving force and deformation, but its response speed is slow, and the air pressure channel occupies most of the robot's volume, and the driver occupies space. If it is too large, the driving efficiency will be low, which will affect the motion performance and functionality of the robot. SUMMARY OF THE INVENTION [0003] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a soft bionic robot and a soft crawler, the robot and the crawler have extremely fast response speed, small mass and high energy density, small size, The robot can be deformed greatly. [000...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
CPCB62D57/02
Inventor 马国轩万熠梁西昌李亚男荆传智
Owner SHANDONG UNIV
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