The invention discloses a software driving structure based on an HASEL (High Acoustic Surface Enhanced Library). The soft driving structure comprises an umbrella body, a driving module and a return assembly. The umbrella body is made of silica gel, and the interior of the umbrella body is divided into multiple frameworks and multiple joints. The driving module is an HASEL flexible driver and comprises a biaxially oriented polypropylene film, a graphene coating, insulating oil and a high-voltage power supply. When the soft body driving structure adopts a jellyfish type swimming mode, the volume of the inner cavity is changed through periodic contraction and expansion of the umbrella body to swim, and the soft body driving structure has the characteristics of low noise, simple structure, light weight, easiness in control and the like. The soft driving structure adopts a soft silica gel structure and flexible driving, and is easy to manufacture and low in cost. Meanwhile, silica gel can be combined with the skin of the flexible robot, and underwater flexible sensing and control are achieved. In addition, the soft driving structure is driven by HASEL, and a high movement rate can be achieved by changing the voltage frequency.
本发明公开了一种基于HASEL的软体驱动结构。本发明的软体驱动结构包括伞体、驱动模块和回复组件。伞体由硅胶组成,内部分割为多个骨架与多关节。驱动模块为HASEL柔性驱动器,包括双向拉伸聚丙烯薄膜、石墨烯涂层、绝缘油液和高压电源。该软体驱动结构采用水母式游动方式时,通过伞体的周期性收缩与舒张改变内腔体积进行游动,具有噪声小、结构简单、质量轻、易于控制等特点。该软体驱动结构采用软体硅胶结构与柔性驱动,易于制作、成本低廉。同时,硅胶可与柔性机器人皮肤相结合,实现水下的柔性传感与控制。此外,该软体驱动结构采用HASEL进行驱动,可以通过改变电压频率实现较高的运动速率。
Soft driving structure based on HASEL
一种基于HASEL的软体驱动结构
2023-12-22
Patent
Electronic Resource
Chinese
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