Bionic robot driven by soft body mode

Abstract

The invention provides a bionic robot driven by a soft body mode. The bionic robot comprises a driving module, an executing module and a soft body mode driving method. The driving module comprises driving feet, fixing pieces, an epoxy resin bonding layer, a piezoelectric ceramic reactor, electrodes, a wireless energy supply coil and the like and is used for providing a power source for the robot.The executing module is mainly composed of a PDMS film and packages a piezoelectric driver as a whole. The two modules are matched with each other to achieve six-degree-of-freedom movement of the robot. The soft body piezoelectric driver is used as the power source, and the movement direction of the driver is controlled by controlling the magnitude of the excitation frequency. The bionic robot designed by the invention has the advantages that a transmission mechanism is not needed, the displacement control precision is high and can reach 0.01 micrometer, the response speed is fast and about 10microseconds, no mechanical fit clearance exists, voltage follow-up type displacement control can be achieved, and all-dimensional movement under water can be achieved.

Description

technical field [0001] The invention relates to a bionic robot driven by a soft body mode. Background technique [0002] In recent years, with the development of robots in the direction of intelligence, the research field of bionic robots has attracted extensive attention from domestic and foreign researchers. The research concept of bionic robot is based on the principle of bionics. By imitating the external structure, movement characteristics and behavior of the biological system in nature, the robot that can work with biological characteristics has gradually shown in the fields of emergency rescue and disaster relief, deep sea exploration and space. It has a good application prospect. In order to make the bionic robot adapt to different working environments and achieve the expected motion effect, the research on the driving mode of the bionic robot is particularly important. Traditional bionic robots use motor drive, pneumatic drive, shape memory material drive, electro...

AI Technical Summary

Problems solved by technology

In the previous studies on the external structure of piezoelectric actuators, most of them used rigid structures, which could not be applied to soft bionic robots. Therefore, a piezoelectric actuator with soft structure was designed to make it a driving method for soft bionic robots. , with no transmission mechanism, high displacement control accuracy, up to 0.01 micron, fast response, about 10 microseconds, no mechanical anastomosis gap, voltage-following displacement control can be realized, and all-round movement under water can be realized Etc

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