工程设计学报2025，Vol.32Issue(3)：316-325,10.DOI:10.3785/j.issn.1006-754X.2025.05.127
介电弹性体驱动的爬行-跳跃机器人研究
Research on crawling-jumping robot driven by dielectric elastomers
摘要
Abstract
Robots capable of both crawling and jumping demonstrate superior adaptability to complex environments compared to those with a single movement mode.Additionally,their soft actuators offer significant advantages such as large deformation and simple structure.Based on the soft actuation method of dielectric elastomer,a crawling-jumping soft robot was designed.Firstly,a bi-stable dielectric elastomer actuator was designed,consisting of a dielectric elastomer membrane,soft electrodes,reinforcing ribs,and a flexible frame.The actuator exhibited bi-stable states in both transverse and longitudinal directions.Through analysis and experiments,the size parameters of the actuator were determined.Secondly,a bi-stable dielectric elastic actuator was fabricated using VHB4910 dielectric elastic membrane.The influence law of pre-stretching rate of membrane on the dynamic response of actuator was studied,and its output torque was tested.The results confirmed that the actuator could enable the robot to jump.Then,based on the dielectric elastomer actuator,a crawling-jumping robot was designed,comprising a crawling module and a jumping module.The robot was capable of moving straight,turning and jumping.Finally,a prototype of crawling-jumping robot was fabricated and tested.The test results showed that the robot achieved a maximum movement speed of 10 cm/s(equivalent to traveling 1.25 body lengths per second),a maximum turning speed of 12(°)/s,a jumping height of approximately 5 mm,and a jumping distance of approximately 3 cm.These findings provide a novel scheme for structural design and actuation of crawling-jumping soft robots.关键词
柔性驱动/介电弹性体/双稳态/柔性执行器/软体机器人Key words
soft actuation/dielectric elastomer/bi-stable state/soft actuator/soft robot分类
机械工程引用本文复制引用
潘锋,阮佳平,唐威,邹俊..介电弹性体驱动的爬行-跳跃机器人研究[J].工程设计学报,2025,32(3):316-325,10.基金项目
国家自然科学基金资助项目(52305074) （52305074）
浙江省自然科学基金资助项目(LZYQ25E050001) （LZYQ25E050001）
