CN-117944784-B - Bionic obstacle surmounting robot driven by electric response material

CN117944784BCN 117944784 BCN117944784 BCN 117944784BCN-117944784-B

Abstract

The invention provides an electric response material driven bionic obstacle crossing robot which comprises a first driver, a second driver, a multi-section elastic framework, a foot support, a foot sole buffer layer structure and a polymer fastener, wherein the multi-section elastic framework comprises a front section framework and a rear section framework, the first driver is arranged on the front section framework, a hollowed-out structure is arranged on the rear section framework, the second driver is arranged on the hollowed-out structure, the foot support is arranged on the rear section framework, and the foot support is provided with the foot sole buffer layer structure. The first driver is a shape memory alloy spring, two groups of shape memory alloy springs are symmetrically distributed on the upper side and the lower side of the front section framework, the interval between the fixed positions of the two ends of the spring is larger than the length of the spring in a natural state, and the two ends of each spring are respectively connected with the anode and the cathode of an external power supply through external wires. The invention adopts the structure of matching the front section framework with the shape memory alloy spring, can realize controllable energy storage and release and realize the jumping obstacle surmounting movement of the robot.

Inventors

WANG HESHENG
YANG JIAN
XU FAN

Assignees

上海交通大学

Dates

Publication Date: 20260512
Application Date: 20240314

Claims (8)

1. The bionic obstacle crossing robot driven by the electric response material is characterized by comprising a first driver (1), a second driver (6), a multi-section elastic framework (2), a foot support (5), a plantar buffer layer structure (4) and a polymer fastener (3); The multi-section elastic framework (2) comprises a front section framework (21) and a rear section framework (22); The first driver (1) is arranged on the front section framework (21) through a polymer fastener (3), a hollowed-out structure is arranged on the rear section framework (22), the second driver (6) is arranged on the hollowed-out structure, the foot support (5) is arranged on the rear section framework (22), and the foot support (5) is provided with a plantar buffer layer structure (4); the first driver (1) is arranged on the front section framework (21) through a polymer fastener (3) and can drive the front section framework (21) to realize bidirectional bending deformation; The first driver (1) is a shape memory alloy spring, two groups of shape memory alloy springs are symmetrically distributed on the upper side and the lower side of the front section framework (21), the interval between the fixed positions of the two ends of the spring is larger than the length of the spring in a natural state, and the two ends of each spring are respectively connected with the anode and the cathode of an external power supply through external wires; The second driver (6) is an electroactive polymer driver comprising a plurality of electroactive polymer driver units, the plurality of electroactive polymer driver units being arranged in a stack; each electroactive polymer actuator unit comprises an electroactive polymer and 2 layers of flexible electrodes, wherein the electroactive polymer is positioned between the 2 layers of flexible electrodes, and the flexible electrodes are respectively connected to two poles of an external power supply.
2. The electrically responsive material driven bionic obstacle surmounting robot according to claim 1, wherein the foot support (5) is bent at a predetermined angle, the foot support (5) being in contact with the ground through the plantar cushioning layer structure (4).
3. The electrically responsive material driven bionic obstacle surmounting robot according to claim 1, characterized in that the polymer fastener (3) is made of a heat resistant, insulating resin material.
4. The electrically responsive material driven bionic obstacle surmounting robot of claim 1, wherein the plantar cushioning layer structure (4) is made of silicone rubber or sponge material.
5. A bionic obstacle surmounting robot driven by electric response material according to claim 3, characterized in that the front section skeleton (21) and the rear section skeleton (22) have the same or different thickness, and the multi-section elastic skeleton (2) is made of polymer material.
6. The electro-responsive material driven bionic obstacle surmounting robot of claim 1, wherein the electro-active polymer is silica gel or acrylate.
7. The electrically responsive material driven bionic obstacle surmounting robot of claim 1, wherein the shape memory alloy spring is made of nickel titanium alloy material.
8. The bionic obstacle surmounting robot driven by the electric response material according to claim 5, wherein the multi-section elastic framework (2) is made of polyimide and polyethylene terephthalate, and the polymer fastener (3) is made of polytetrafluoroethylene and polyamide.

Description

Bionic obstacle surmounting robot driven by electric response material Technical Field The invention relates to the field of soft robots, in particular to a bionic obstacle crossing robot driven by an electric response material. Background In recent years, with the continuous development of material science and technology, various new driving technologies are continuously emerging and applied to the field of robots, such as driving technologies based on electroactive materials, shape memory materials, magnetic materials, and the like. The application of the driving technology effectively reduces the rigidity and the volume of the robot, reduces the manufacturing cost of the robot, enables the robot to be better applied to complex and narrow environments, or realizes bionic design which is more similar to the biological appearance and the movement mode in the nature, and has wide application prospect in the fields of medical treatment, search and rescue, marine environment exploration and the like. Currently, intelligent driving technologies based on electrically responsive material driving (e.g., shape memory alloys, electroactive polymers, etc.) are widely used in the field of microminiature mobile robots due to their excellent performance and ease of control. However, the current driving robot based on the electric response material generally does not have a jump or obstacle surmounting function, such as a running foot type robot designed in a Harbin industrial university soft robot laboratory and based on dielectric elastomer drivers, the two drivers are connected in series by adopting a minimum energy structure of front dielectric elastomer and rear dielectric elastomer, and when the two drivers are driven together, the robot can realize forward emptying movement, so that the running speed of 6 times of body length per second is realized, but the robot can only perform single-mode movement on a flat ground, can not perform steering, obstacle surmounting and other actions, and the application scene is restricted. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide a bionic obstacle crossing robot driven by an electric response material. The bionic obstacle crossing robot driven by the electric response material comprises a first driver, a second driver, a multi-section elastic framework, a foot support, a plantar buffer layer structure and a polymer fastener, wherein the first driver is connected with the first driver; the multi-section elastic framework comprises a front section framework and a rear section framework, The first driver is arranged on the front section framework through a polymer fastener, and a hollowed-out structure is arranged on the rear section framework; the foot support is arranged on the rear section framework and is provided with a plantar buffer layer structure; The first driver is arranged on the front section framework through a polymer fastener and can drive the front section framework to realize bidirectional bending deformation. Preferably, the first driver is a shape memory alloy spring, two groups of shape memory alloy springs are symmetrically distributed on the upper side and the lower side of the front section framework, the interval between the fixed positions of the two ends of the spring is larger than the length of the spring in a natural state, and the two ends of each spring are respectively connected with the anode and the cathode of an external power supply through external wires. Preferably, the second driver is an electroactive polymer driver comprising a plurality of electroactive polymer driver units, the plurality of electroactive polymer driver units being arranged in a stack; each electroactive polymer actuator unit comprises an electroactive polymer and 2 layers of flexible electrodes, wherein the electroactive polymer is positioned between the 2 layers of flexible electrodes, and the flexible electrodes are respectively connected to two poles of an external power supply. Preferably, the foot support is bent at a preset angle, and the foot support is contacted with the ground through the plantar cushioning layer structure. Preferably, the polymeric fastener is made of a heat resistant, insulating resin material. Preferably, the sole buffer layer structure is made of silicone rubber or sponge material. Preferably, the thicknesses of the front section framework and the rear section framework are the same or different, and the multi-section elastic framework is made of polymer materials. Preferably, the electroactive polymer is made of silica gel or acrylate. Preferably, the shape memory alloy spring is made of nickel-titanium alloy material. Preferably, the multi-section elastic framework is made of polyimide and polyethylene terephthalate, and the polymer fastener is made of polytetrafluoroethylene and polyamide. Compared with the prior art, the invention has the following beneficial effects: 1. The invention ado