The adsorption type soft crawling robot comprises a driving frame and a DE film, the driving frame comprises at least three elastic supporting legs which are located on the same plane and distributed in a radial shape, the inner side ends of all the elastic supporting legs are fixedly connected together, and the DE film is in an elastic stretching state; the DE film covers one side face of the driving frame and is fixedly connected with the driving frame, the driving frame can enable all the elastic supporting legs to arch towards the same side under the driving of the elastic force of the DE film, and flexible electrodes I are printed on the DE film and located between every two adjacent elastic supporting legs. The outer side ends of the elastic supporting legs are provided with adsorption feet with an adsorption control function, and the adsorption feet and the elastic supporting legs are connected through flexible connecting pieces. The invention further discloses a control method of the soft crawling robot, and multi-mode movement on various wall surfaces is achieved through cooperative control between the flexible electrodes and the adsorption feet.

    本发明公开了一种基于介电弹性体的吸附式软体爬行机器人,包括驱动框架和DE薄膜,驱动框架包括位于同一平面上且呈放射状分布的至少三根弹性支腿,所有的弹性支腿的内侧端相互固定连接在一起,DE薄膜处于弹性拉伸状态,DE薄膜覆盖在驱动框架的一侧侧面上且与驱动框架固定连接,驱动框架在DE薄膜的弹性力驱动下能够使各弹性支腿朝向同一侧拱起,DE薄膜上且分别位于相邻两根弹性支腿之间的位置印刷有柔性电极Ⅰ,弹性支腿的外侧端设置有具有吸附控制功能的吸附脚,吸附脚与弹性支腿之间通过柔性连接件进行连接。本发明还公开了一种软体爬行机器人的控制方法,通过柔性电极和吸附脚之间的协同控制,实现在各种壁面上的多模式运动。


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    Title :

    Adsorption type soft crawling robot based on dielectric elastomer and control method of adsorption type soft crawling robot


    Additional title:

    基于介电弹性体的吸附式软体爬行机器人及其控制方法


    Contributors:
    HUANG XIA (author) / XIANG HAOMIN (author) / WU CHANG (author) / DING JUN (author)

    Publication date :

    2024-08-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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