| 张彬1， 刘学婧1， 苏倩1， 陈琛1， 黄修军1, 王思清1， 邢宇1,2*.薄片式软体爬行机器人[J].轻工机械,2023,41(1):30-34 |
| 薄片式软体爬行机器人 |
| Thin Sheet Soft Crawling Robot |
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| DOI：10.3969/j.issn.1005 2895.2023.01.005 |
| 中文关键词: 爬行机器人 薄片式软体机器人 介电弹性体 柔性驱动器 单向摩擦片 |
| 英文关键词:crawling robot thin sheet soft robot dielectric elastomer soft actuators unidirectional friction plate |
| 基金项目:中国博士后科学基金(2020M683682XB)；机械制造系统工程国家重点实验室开放课题（sklms2021014)；特种车辆及其传动系统智能制造国家重点实验室开放课题(GZ2019KF011)；陕西省高速公路施工机械重点实验室项目(300102251506)；陕西省教育厅科研计划项目(22JK0404)。 |
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| 中文摘要: |
| 为了提高软体爬行机器人狭缝通过能力，课题组设计了一种薄片式软体爬行机器人。利用介电弹性体材料较高的能量密度、极快的响应速度、较低的制作成本及良好的变形能力使其作为驱动器，安装在驱动器两侧的压缩弹簧作为储能器，使驱动器能够输出推力的同时保持其轻薄的特性；并采用单向摩擦片作为机器人足部来推动机器人前进。实验测试的机器人长为100 mm，宽为65 mm，高为15 mm，质量为34.7 g，通过控制变量法分析了不同电压幅值、不同频率和不同剪切条数量对机器人爬行速度的影响，选取合适的信号输入。结果表明：试验机器人的最快爬行速度达到46.6 mm/s，最大载质量为60 g，最大爬行坡度为15°；该机器人能够在高度仅为17 mm的缝隙内爬行，运动性能良好。 |
| 英文摘要: |
| In order to improve the slits passing ability of soft crawling robot, a thin sheet soft crawling robot was designed. Using the dielectric elastomer materials with characteristics of high energy density, extremely fast response speed, low production cost and good deformability as the drive，the compression springs installed on both sides of the drive were used as energy storage, so that the thin and light characteristics of the drive can be maintained when outputting thrust. The unidirectional friction plate was used as the foot of the robot to propel the robot forward. The robot tested in the experiment has a length of 100 mm, a width of 65 mm, a height of 15mm and a mass of 34.7 g. Through the control variable method, the influence of different voltage amplitude, different frequency and different number of hard fiber strips on the crawling speed of the robot was analyzed, and the appropriate signal input was selected. The results show that the maximum crawling speed of the robot is 46.6 mm/s, the maximum load is 60 g, and the maximum crawling slope is 15°. The designed robot can crawl in a slot of only 17 mm and have a good motor function. |
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