Rigid-flexible composite robot based on minimum energy structure of dielectric elastomer

Abstract

The invention discloses a rigid-flexible composite robot based on a minimum energy structure of a dielectric elastomer. The rigid-flexible composite robot includes a bow-shaped bendable supporting element, and a driving element which is deformable after a voltage is applied to both sides is arranged below the supporting element. The driving element is connected with a control circuit, and both ends of the driving element separately protrude from the front side surface and the rear side surface of the supporting element and then are fixed through pins. A front axle connecting rod is arranged onthe front side surface of the supporting element, and the front axle connecting rod is connected with a front actuating element. A rear axle connecting rod is arranged on the rear side surface of thesupporting element, and the rear axle connecting rod is connected with a rear actuating element. The rigid-flexible composite robot based on the minimum energy structure of the dielectric elastomer solves the problems of low speed, insufficient driving force, unstable movement and low overall deformation degree of existing software robots.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, in particular to a rigid-flexible composite robot based on a dielectric elastomer minimum energy structure. Background technique [0002] Traditional rigid robots are mostly made of hard materials such as steel, hard plastics, and ceramics, and usually include complex structures such as transmission systems, motors, and gears, which have defects such as complex structures, bulky volumes, loud noises, and high costs. It greatly limits its application in unstructured environment, human-computer interaction, intelligent bionics and other fields. [0003] Dielectric elastomer (DE) is a new type of electroactive polymer material that can produce large deformation under external voltage excitation. It has large deformation, fast response speed, high energy density, high electromechanical conversion efficiency, and light weight. Due to its low cost and similar stiffness to animal muscles, it is...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a rigid-soft composite robot based on the minimum energy structure of dielectric elastomers, which solves the problems of slow speed, insufficient driving force, unstable motion and low overall deformation degree of existing soft robots

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