Flexible crawling robot based on low-voltage driving of dielectric elastomer and driving method

By combining a multilayer dielectric elastomer actuator and a hook-shaped rigid bending passive layer with a boost circuit board, the problem of high-voltage drive for dielectric elastomer robots is solved, realizing a dielectric elastomer robot with efficient motion under low voltage and a compact structure, suitable for complex environments.

CN122401367APending Publication Date: 2026-07-17ZHEJIANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
ZHEJIANG UNIV
Filing Date
2026-06-03
Publication Date
2026-07-17

AI Technical Summary

Technical Problem

Existing dielectric elastomer robots require high-voltage actuation, resulting in expensive, large, and heavy electronic components, which limits their application and development. Furthermore, current research lacks effective strategies to address the problems of excessively high driving voltage and insufficient deformation at low voltages in dielectric elastomers.

Method used

The robot employs a combination structure consisting of a multilayer dielectric elastomer actuator, a hook-shaped rigid bending passive layer, an integrated boost circuit board, and a battery. It achieves robot movement through inertial force, utilizes the boost circuit board to increase the low voltage to a high voltage, and combines an asymmetric structural design to realize low-voltage drive of the dielectric elastomer.

Benefits of technology

It enables efficient movement of dielectric elastomer robots under low voltage, freeing them from wire harness constraints. The structure is simple and small in size, making them suitable for independent operation in complex environments.

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Abstract

The application discloses a flexible crawling robot based on dielectric elastomer low-voltage driving and a driving method. The robot comprises a multilayer dielectric elastomer driver, a hook-shaped hard curved passive layer, an integrated booster circuit board and a battery. The multilayer dielectric elastomer driver is arranged on one side surface of the hook-shaped hard curved passive layer, the battery and the integrated booster circuit board are respectively arranged on the other surface of the hard curved passive layer, the two ends of the curved hard passive layer for crawling are divided into forelegs and hind legs, the acute angle formed between the hind legs and the crawling surface is larger than the acute angle formed between the forelegs and the crawling surface, and the crawling surface is the ground. The battery and the integrated booster circuit board are electrically connected. The method is to repeatedly apply and remove voltage to the multilayer dielectric elastomer driver to generate deformation, and the inertia force generated by the deformation drives the movement of the whole flexible crawling robot. The application has the advantages of simple structure, small size and independent work without wire harness constraint.
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