CN106737567B - A kind of Ultralight robot based on the driving of dielectric elastomer resonator - Google Patents
A kind of Ultralight robot based on the driving of dielectric elastomer resonator Download PDFInfo
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- CN106737567B CN106737567B CN201710098340.6A CN201710098340A CN106737567B CN 106737567 B CN106737567 B CN 106737567B CN 201710098340 A CN201710098340 A CN 201710098340A CN 106737567 B CN106737567 B CN 106737567B
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- 229920002595 Dielectric elastomer Polymers 0.000 title claims abstract description 66
- 239000000463 material Substances 0.000 claims abstract description 33
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 24
- 239000011889 copper foil Substances 0.000 claims abstract description 24
- 239000006260 foam Substances 0.000 claims description 13
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 8
- 229920000742 Cotton Polymers 0.000 claims description 8
- 229910052799 carbon Inorganic materials 0.000 claims description 8
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 8
- 239000011521 glass Substances 0.000 claims description 6
- 244000137852 Petrea volubilis Species 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 238000005498 polishing Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims 1
- 238000007689 inspection Methods 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 241000256247 Spodoptera exigua Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 229920001746 electroactive polymer Polymers 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
- Manipulator (AREA)
Abstract
本发明公开一种基于介电弹性体谐振器驱动的超轻质机器人，包括介电弹性体谐振器与支撑构件两部分；介电弹性体谐振器的上下约束边框连接有上下表面铜箔电极，上下表面铜箔电极位于介电弹性体谐振器上相对的两侧；上下约束边框将介电弹性体基体材料夹持于其中；介电弹性体基体材料上有电连接上表面铜箔电极的上表面柔性电极，介电弹性体基体材料下表面有电连接下表面铜箔电极的下表面柔性电极；支撑构件上设置有凹槽，介电弹性体谐振器插入支撑构件的凹槽中，且能够自由滑动。本发明所提出的机器人设计整体结构及运动控制都极其简单，具有较高的运动速度及超轻的重量，在航空航天探索工程、军事侦察、工业检测等领域具有较大的潜在应用价值。
The invention discloses an ultra-lightweight robot driven by a dielectric elastomer resonator, comprising two parts: a dielectric elastomer resonator and a support member; the upper and lower bounding frames of the dielectric elastomer resonator are connected with upper and lower surface copper foil electrodes, The copper foil electrodes on the upper and lower surfaces are located on opposite sides of the dielectric elastomer resonator; the upper and lower bounding frames clamp the dielectric elastomer base material therein; the dielectric elastomer base material is electrically connected to the upper surface copper foil electrodes. The surface flexible electrode, the lower surface of the dielectric elastomer base material has a lower surface flexible electrode that is electrically connected to the lower surface copper foil electrode; the support member is provided with a groove, and the dielectric elastomer resonator is inserted into the groove of the support member, and can be Swipe freely. The overall structure and motion control of the robot proposed by the invention are extremely simple, have high motion speed and ultra-light weight, and have great potential application value in the fields of aerospace exploration engineering, military reconnaissance, and industrial inspection.
Description
Technical field
The invention belongs to lightweight robotic technology field, in particular to a kind of Ultralight robot architecture.
Background technique
An important branch of the light and small humanoid robot as robot field, because its volume only has several microns or tens micro-
The characteristic dimension of rice is widely used in detection, the drug conveying, the detection and military affairs of industrial narrow environment of body cavities
The fields such as scouting.It is light to be broadly divided into wheeled light and small humanoid robot, imitative Inchworm type according to the difference of motion mode for light and small humanoid robot
Small scale robot, the light and small humanoid robot of sufficient formula, the light and small humanoid robot of inertia friction formula and the light and small humanoid robot of resonant mode etc. are several
Seed type.Pneumatic, microcomputer electric drive, intellectual material driving and energy field driving can be divided into again by driving method point
Deng.Since light and small humanoid robot size is smaller, MEMS manufacture and assembly need accurate machining cooperation, and pneumatic
And energy field driving usually requires external air pump and Flied emission equipment etc., these heavy external equipments are to a certain extent
Limit the free movement of light and small humanoid robot.The light and small humanoid robot of resonant mode is because its structure is simple, Motion Resolution rate is high, movement
Speed is taken the course of its own in numerous small-sized robot motion's structures fastly, but traditional driver based on resonance mechanism is main
Or piezoelectric patches, vibrating motor etc., drive form is more single, and the linear oscillator of mainly driver causes mechanism kinematic,
The small-sized robot motion's form developed based on this is also more single, and the limited and traditional resonant mode of robot function is light
Small scale robot is rigid member, and bioaffinity is poor.
In recent years, electroactive polymer intellectual material-dielectric elastomer (Dielectric elastomer, DE)
Occur, provides a kind of brand-new design thinking for simple, the efficient small-sized kinematic robot of production structure.This material is outside
It can produce large deformation under electrical impulse, after excitation is removed, it can be restored to original geomery again, therefore be otherwise known as
" artificial-muscle ", " soft machinery ".Relative to traditional intelligence material, DE have light weight, movement flexibly, low energy consumption, is readily formed
And be subjected to large deformation and outstanding advantages of damage not easy to fatigue, so that it be made to rapidly become a research in intellectual material field
Hot spot is a kind of splendid resonant mode actuator material.
Summary of the invention
It is an object of the invention to design one kind using resonance mechanism of the dielectric elastomer material under dynamic electric voltage load
Based on the Ultralight robot of dielectric elastomer resonator driving, to solve existing small-sized kinematic robot, structure is complicated,
The disadvantage that manufacture craft is cumbersome, control difficulty is big.
In order to reach the goals above, the present invention, which adopts the following technical scheme that, is achieved:
A kind of Ultralight robot based on the driving of dielectric elastomer resonator, including dielectric elastomer resonator and support
Component two parts；
Dielectric elastomer resonator includes dielectric elastomer basis material, up and down constraint frame and upper and lower compliant conductive electricity
Pole；
The upper constraint frame of dielectric elastomer resonator is connected with upper surface copper foil electrode, is connected with down on lower constraint frame
Surface copper foil electrode, upper surface copper foil electrode and lower surface copper foil electrode are located at two sides opposite on dielectric elastomer resonator；
Dielectric elastomer basis material is held on wherein by upper constraint frame and lower constraint frame；Dielectric elastomer basis material upper surface
It is printed with the upper surface flexible electrode of electrical connection upper surface copper foil electrode, dielectric elastomer basis material lower surface, which is connected with, to be electrically connected
Connect the lower surface flexible electrode of lower surface copper foil electrode；
It is arranged fluted on supporting member, dielectric elastomer resonator is inserted into the groove of supporting member, and can be free
Sliding.
Further, the surface of supporting member and ground face contact is processed into using the method for sand paper one direction polishing with each
The surface of anisotropy frictional force.
Further, used dielectric elastomer basis material is the VHB4910 material of 3M company.
Further, after dielectric elastomer basis material carries out the mechanical pretensions of equal 4 × 4 times of twin shafts on stretching device
It is held between constraint frame up and down.
Further, supporting member is that pearl cotton supports foam；Pearl cotton support foam include bottom plate disposed in parallel and
One end of top plate, bottom plate and top plate passes through the side wall being vertically arranged and connects, so that top plate is in cantilever-shaped；The upper surface and top of bottom plate
The lower surface of plate is equipped with a pair of of groove far from one end of side wall.
Further, dielectric elastomer resonator is arranged in parallel with side wall.
Further, upper and lower compliant conductive electrode be MG Chemicals company No. 846 conductive carbon rouge and upper surface it is soft
Property electrode and lower surface flexible electrode project coincidence on the direction perpendicular to dielectric elastomer basis material.
Further, constraint frame uses and constrains frame with a thickness of the organic glass of 1mm up and down.
Further, the Dynamic Signal being applied on dielectric elastomer resonator is the sinusoidal signal for having direct current biasing.
Further, surface flexible electrode and lower surface flexible electrode are rounded, upper constraint frame and lower constraint frame
Center has a circular space, the edge of upper surface flexible electrode and lower surface flexible electrode and corresponding upper constraint frame and it is lower about
The circular space edge interval of beam frame is arranged.
A kind of Ultralight Robot Design based on the driving of dielectric elastomer resonator of the present invention, composed structure are ultralight
Resonator and EPE foam composition.Resonator insertion is freely slidable next on the EPE foam groove after cutting
Robot motion direction is finely adjusted, realizes linear motion of the robot under constant frequency.Wherein, resonator is in load thousand
When lying prostrate the high-voltage electricity of rank, reduction, area expansion can be generated in thickness direction under the action of Maxwell's stress.When load frequency
Rate will generate vibration force and pass to support foam, the surface of support foam and ground face contact when reaching the resonant frequency of resonator
It has passed through unidirectional sand paper polishing pretreatment in advance, form it into the micro-structure surface with anisotropy frictional force, shaking
Robot is set to generate the motoricity advanced in the case where power and frictional force coupling.Simultaneously as this structure of dielectric elastomer
The nonlinear characteristic of model and its non-linear electrostrictive make its vibration characteristics have strong nonlinear characteristic, so by changing
Frequency can enable resonator export the vibration force of uneven distribution, so as to make robot motion's direction change.
Compared with prior art, the invention has the following advantages:
Its drive mechanism of vibration movement mechanism disclosed by the invention is resonance of the dielectric elastomer under dynamic electric voltage load
Characteristic, energy conversion efficiency is high and its material property is but also the robot based on this production has ultralight weight.The present invention
Designed robot architecture and control is extremely simple, has potential application in engineering field.
Detailed description of the invention
Fig. 1 is a kind of Ultralight robot architecture's schematic diagram based on the driving of dielectric elastomer resonator of the present invention.Wherein:
1 be dielectric elastomer resonator, 2 be pearl cotton support foam；
Fig. 2 is the side view of robot.Wherein 2-2 is the surface with ground face contact；
Fig. 3 is pearl cotton supporting member.Wherein 2-1 is groove；
Fig. 4 is dielectric elastomer resonator structure schematic diagram, wherein 1-1 is upper surface flexible electrode, and 1-2 is upper constraint
Frame, 1-3 are upper surface copper foil electrode, and 1-4 is dielectric elastomer basis material, and 1-5 is lower surface copper foil electrode, under 1-6 is
Frame is constrained, 1-7 is lower surface flexible electrode.
Specific embodiment
Below with reference to embodiment and attached drawing, the present invention is described in further detail, it is described be explanation of the invention and
It is not to limit.
Referring to Fig. 1, a kind of Ultralight robot based on the driving of dielectric elastomer resonator of the present invention, mainly includes dielectric
Elastomer resonator 1 and pearl cotton support 2 two parts of foam.
Supporting foam 2 includes bottom plate 22 disposed in parallel and top plate 24, and one end of bottom plate 22 and top plate 24 by setting vertically
The side wall 23 set connects, so that top plate 24 is in cantilever-shaped；The upper surface of bottom plate 22 and the lower surface of top plate 24 are far from the one of side wall
End is equipped with a pair of of groove 2-1, and the shape of foam is supported to be cut into via heating wire, later to its bottom plate 22 and ground face contact
Surface 2-2, which carries out the polishing of one direction sand paper, keeps its front and back frictional force inconsistent.
The production needs of dielectric elastomer resonator 1 first carry out dielectric elastomer basis material 1-4 on stretching device
The mechanical pretension of equal 4 × 4 times of twin shafts, has larger viscosity by VHB4910 itself, and the material after pre-stretching has with two layers
Machine glass (above constraining frame 1-2 and lower constraint frame 1-6) attaches can be constrained up and down.The upper constraint frame of organic glass
After 1-2 and lower constraint frame 1-6 is attached on dielectric elastomer basis material 1-4, by the VHB material constrained and two layers of organic glass
Glass is cut, and pastes upper surface copper foil electrode 1-3 and lower surface copper foil respectively on upper constraint frame 1-2 and lower constraint frame 1-6
Then electrode 1-5 prints upper liquid carbon rouge electrode as upper surface flexibility in the upper and lower surface of dielectric elastomer basis material 1-4
(upper surface flexible electrode 1-1 and lower surface flexible electrode 1-7 are rounded, upper constraint by electrode 1-1 and lower surface flexible electrode 1-7
The center of frame 1-2 and lower constraint frame 1-6 have circular space, upper surface flexible electrode 1-1 and lower surface flexible electrode 1-7
There is certain distance with the circular space edge of corresponding upper constraint frame 1-2 and lower constraint frame 1-6, be not filled by completely upper constraint
The circular space of frame 1-2 and lower constraint frame 1-6)；Upper surface flexible electrode 1-1 connection upper surface copper foil electrode 1-3, following table
Face flexible electrode 1-7 connection lower surface copper foil electrode 1-5.It, can be first in dielectric in order to make the shape of carbon rouge electrode keep rule
Hollow out is adhered on elastomeric substrate materials 1-4 has the release paper of anticipation electrode shape to apply carbon rouge again, then removes release paper i.e.
The carbon rouge electrode of predetermined shape can be obtained.By dielectric elastomer resonator 1 be inserted into pearl cotton support foam 2 groove 2-1 after
When the vibration force that resonator generates is greater than the maximum static friction force in some direction, robot starts under the load of dynamic electric voltage
Movement.The initial motion direction of robot it is possible that certain deviation and cannot move along a straight line, at this moment can be humorous by sliding
Position of the device in supporting member shake to realize its linear motion.
Round carbon is printed with specific embodiment 1: the sinusoidal signal after biasing is connected to after high-voltage amplifier amplifies
On the copper foil electrode of the robot of rouge electrode, the straight line of robot can be realized when frequency input signal reaches mechanism resonance frequency
It is mobile.When resonator is slid onto leftward position, robot divertical motion to the right；When resonator is slid onto right positions,
Robot divertical motion to the left.
Round carbon is printed with specific embodiment 2: the sinusoidal signal after biasing is connected to after high-voltage amplifier amplifies
On the copper foil electrode of the robot of rouge electrode, the vibration force for making resonator export left and right uneven distribution by changing frequency, when
When left side vibration force is bigger than normal, robot moves to the right, and vice versa.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
A specific embodiment of the invention is only limitted to this, for those of ordinary skill in the art to which the present invention belongs, is not taking off
Several simple deduction or replace are made under the premise of from present inventive concept all shall be regarded as belonging to the present invention by being submitted
Claims determine scope of patent protection.
Claims (9)
1. a kind of Ultralight robot based on the driving of dielectric elastomer resonator, which is characterized in that humorous including dielectric elastomer
Shake device (1) and supporting member two parts；
Dielectric elastomer resonator includes dielectric elastomer basis material (1-4), up and down constraint frame and upper and lower compliant conductive electricity
Pole；
The upper constraint frame of dielectric elastomer resonator is connected with upper surface copper foil electrode (1-3), is connected on lower constraint frame
Lower surface copper foil electrode (1-5), upper surface copper foil electrode and lower surface copper foil electrode are located on dielectric elastomer resonator relatively
Two sides；Dielectric elastomer basis material is held on wherein by upper constraint frame and lower constraint frame；Dielectric elastomer matrix material
Material upper surface is printed with the upper surface flexible electrode (1-1) of electrical connection upper surface copper foil electrode, under dielectric elastomer basis material
Surface is connected with the lower surface flexible electrode (1-7) of electrical connection lower surface copper foil electrode；
It is arranged on supporting member fluted (2-1), dielectric elastomer resonator is inserted into the groove of supporting member, and can be free
Sliding；
The surface of supporting member and ground face contact is processed into using the method for sand paper one direction polishing with anisotropy frictional force
Surface.
2. a kind of Ultralight robot based on the driving of dielectric elastomer resonator according to claim 1, feature exist
In used dielectric elastomer basis material is the VHB4910 material of 3M company.
3. a kind of Ultralight robot based on the driving of dielectric elastomer resonator according to claim 1 or 2, feature
It is, dielectric elastomer basis material is held on up and down about after carrying out the mechanical pretensions of equal 4 × 4 times of twin shafts on stretching device
Between beam frame.
4. a kind of Ultralight robot based on the driving of dielectric elastomer resonator according to claim 1, feature exist
In supporting member is that pearl cotton supports foam；It includes bottom plate disposed in parallel (22) and top plate (24), bottom that pearl cotton, which supports foam,
One end of plate and top plate passes through side wall (23) connection being vertically arranged, so that top plate is in cantilever-shaped；The upper surface of bottom plate and top plate
Lower surface be equipped with a pair of of groove (2-1) far from one end of side wall.
5. a kind of Ultralight robot based on the driving of dielectric elastomer resonator according to claim 4, feature exist
In dielectric elastomer resonator is arranged in parallel with side wall.
6. a kind of Ultralight robot based on the driving of dielectric elastomer resonator according to claim 1, feature exist
In upper and lower compliant conductive electrode is No. 846 conductive carbon rouge of MG Chemicals company and upper surface flexible electrode and lower surface
Flexible electrode projects coincidence on the direction perpendicular to dielectric elastomer basis material.
7. a kind of Ultralight robot based on the driving of dielectric elastomer resonator according to claim 1, feature exist
In constraint frame, which uses, up and down constrains frame with a thickness of the organic glass of 1mm.
8. a kind of Ultralight robot based on the driving of dielectric elastomer resonator according to claim 1, feature exist
In the Dynamic Signal being applied on dielectric elastomer resonator is the sinusoidal signal for having direct current biasing.
9. a kind of Ultralight robot based on the driving of dielectric elastomer resonator according to claim 1, feature exist
In upper surface flexible electrode and lower surface flexible electrode are rounded, and the center of upper constraint frame and lower constraint frame has circle
The circle at the edge of space, upper surface flexible electrode and lower surface flexible electrode and corresponding upper constraint frame and lower constraint frame
The setting of spatial edge interval.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710098340.6A CN106737567B (en) | 2017-02-22 | 2017-02-22 | A kind of Ultralight robot based on the driving of dielectric elastomer resonator |
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| CN201710098340.6A CN106737567B (en) | 2017-02-22 | 2017-02-22 | A kind of Ultralight robot based on the driving of dielectric elastomer resonator |
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| CN106737567B true CN106737567B (en) | 2019-04-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108551276B (en) * | 2018-03-20 | 2020-04-21 | 西安理工大学 | A motor with a dielectric elastomer drive element |
| CN109606496B (en) * | 2018-12-18 | 2020-06-12 | 上海交通大学 | Wall-climbing robot and method based on dielectric elastomer driver and electrostatic adsorption |
| CN110729918B (en) * | 2019-10-18 | 2021-07-09 | 北京中石伟业科技股份有限公司 | Dielectric elastomer driver capable of being driven at low voltage and manufacturing method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1136860A (en) * | 1994-10-05 | 1996-11-27 | 诺基亚电信公司 | dielectric resonator |
| US6188360B1 (en) * | 1998-09-04 | 2001-02-13 | Murata Manufacturing Co., Ltd. | Radio-frequency radiation source, radio frequency radiation source array, antenna module, and radio equipment |
| CN103932794A (en) * | 2014-04-02 | 2014-07-23 | 西安交通大学 | Minimally invasive surgery operating arm structure based on DE drivers |
| CN105425835A (en) * | 2015-12-30 | 2016-03-23 | 西安交通大学 | Dielectric high-elastic polymer actuator-based antenna pose adjustment and control system |
| CN105737993A (en) * | 2016-02-02 | 2016-07-06 | 烟台睿创微纳技术有限公司 | Tunable micro-bolometer image element structure and image element array |
-
2017
- 2017-02-22 CN CN201710098340.6A patent/CN106737567B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1136860A (en) * | 1994-10-05 | 1996-11-27 | 诺基亚电信公司 | dielectric resonator |
| US6188360B1 (en) * | 1998-09-04 | 2001-02-13 | Murata Manufacturing Co., Ltd. | Radio-frequency radiation source, radio frequency radiation source array, antenna module, and radio equipment |
| CN103932794A (en) * | 2014-04-02 | 2014-07-23 | 西安交通大学 | Minimally invasive surgery operating arm structure based on DE drivers |
| CN105425835A (en) * | 2015-12-30 | 2016-03-23 | 西安交通大学 | Dielectric high-elastic polymer actuator-based antenna pose adjustment and control system |
| CN105737993A (en) * | 2016-02-02 | 2016-07-06 | 烟台睿创微纳技术有限公司 | Tunable micro-bolometer image element structure and image element array |
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