Unconstrained hydraulic amplification electrostatic self-driven rolling type robot

Abstract

The invention discloses an unconstrained hydraulic amplification electrostatic self-driven rolling type robot which comprises N outer flexible electrode layers, an inner flexible electrode layer, an outer elastic layer, an inner elastic layer, an inner liquid dielectric layer and a rigid inner frame, the inner flexible electrode layer is arranged outside the rigid inner frame, and the inner elastic layer is arranged outside the inner flexible electrode layer. The inner liquid dielectric layer is arranged outside the inner elastic layer, the outer elastic layer is arranged outside the inner liquid dielectric layer, and the N outer flexible electrode layers are uniformly attached to the outer surface of the outer elastic layer at a gap distance l. An internal interface is led out from the inner flexible electrode layer, an external interface is led out from each external flexible electrode layer, the N external interfaces are connected in parallel and then connected with the internal interface in series, and the internal interface and the N external interfaces are connected with a circuit unit. Compared with the prior art, the unconstrained hydraulic amplification electrostatic self-driven rolling type robot has the advantages of low manufacturing cost, simplicity in manufacturing and capability of realizing higher power density and higher response speed.

Description

technical field [0001] The invention belongs to the field of advanced functional material manufacturing, in particular to an unconstrained hydraulic amplified electrostatic self-driven rolling robot. Background technique [0002] In a complex and dynamic multi-physics environment, traditional rigid robots require complex algorithms and complicated structures, and the limitations of their materials make it difficult to adapt to the actual operating environment. With new material technology, advanced manufacturing industry and artificial With the development of intelligence and other fields, soft robots have recently attracted great research interest. Recent studies have proved that soft robots can achieve new functions that are difficult for traditional robots, including the manipulation of delicate objects and self-adaptation in confined and complex spaces. However, now Flexible robots often require redundant external devices (cylinders, valves, etc.) to be driven pneumatica...

AI Technical Summary

Problems solved by technology

[0002]In a complex and dynamic multi-physics environment, traditional rigid robots require complex algorithms and complicated structures, and the limitations of their materials make it difficult to adapt In the actual working environment, with the development of new material technology, advanced manufacturing industry and artificial intelligence, soft robots have recently attracted great research interest. Recent studies have proved that soft robots can achieve new functions that are difficult for traditional robots, including delicate objects. Manipulation, self-adaptation in closed and complex spaces, etc. However, existing soft robots often require redundant external devices (cylinders, valves, etc.) , the overall driving force, driving efficiency and driving power are low, and it is difficult to achieve efficient operation in high-risk environments

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