Dielectric elastomer driver, flexible foot and starfish-imitating soft robot

Abstract

The invention discloses a dielectric elastomer driver, a flexible foot and a starfish-imitating soft robot, and belongs to the field of soft robots. According to the dielectric elastomer flexible foot provided by the invention, through an upper-side dielectric elastomer driver (extendable) and a lower-side silica gel elastomer sole (extendable and deformable), when the dielectric elastomer driver is electrified, the dielectric elastomer flexible foot is bent towards the lower side; the concave-convex structure on the surface of the soft foot bottom ensures the friction force between the flexible foot and the environment. According to the starfish-imitating soft robot, a center radiation symmetrical structure is adopted, the starfish-imitating soft robot conforms to the movement mode of starfishes, and compared with other robot structures, the starfish-imitating soft robot can adapt to different terrains of the seabed; and the dielectric elastomer is flexible enough and is electrically deformed, so that compared with a thermally-induced deformation material, the energy efficiency is higher.

Description

technical field [0001] The invention belongs to the field of soft robots, and more specifically relates to a dielectric elastic body driver, a flexible foot and a starfish-like soft robot. Background technique [0002] Robots traditionally made of rigid materials are usually used in well-defined environments to repeatedly perform prescribed actions with extremely high precision, which makes them widely used in manufacturing, military and other fields. However, due to its rigid structure, traditional robots have poor adaptability to unstructured environments, and their movement in complex environments or narrow spaces will be limited. [0003] Soft robots refer to robots whose body structure has continuous soft deformation capability. Unlike traditional rigid materials and multi-joint structure robots, soft robots are closer to the soft characteristics of living things, can flexibly twist and deform, and theoretically have infinite degrees of freedom. . Imitate the physiolo...

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Problems solved by technology

However, the deformation of shape memory alloys is only affected by temperature. Due to the low temperature and high specific heat capacity of water, the heat of shape memory alloys diffuses rapidly in water, which makes its temperature difficult to control and the energy utilization rate is too low.

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