Design And Mechanical Analysis Of Running Robot Driven By Dielectric Elastomers

Compared with the rigid bionic robot,the software bionic robot is closer to the real mechanical properties of the organism.They can naturally adapt to their interaction with the environment,such as contact collision interaction during jumping and running,and force interaction during grasping.In addition,software bionic robots achieve large displacement by large deformation,and do not need a motion transformation mechanism,so their structure is simple,which is conducive to the realization of lightweight and agile dynamic performance of the robot.In this paper,we use dielectric elastomer as the drive to study the so ftware robot that can run,and expect to carry out the pre-research in the motion simulation and mechanics analysis for the software bionic robot.So as to lay a foundation for further research.The specific contents of the study are as follows:Referring to the structure of the running animal and combining the current drive ability of the dielectric elastomer joint,the structure scheme of the robot is designed,and the feasibility of the scheme is analyzed theoretically and experimentally.The specific route is as follows: firstly,the static equation is established and the jumping ability is theoretically analyzed;on this basis,the feasibility of the structural scheme is verified by primary structural parameters.The dynamic equation of the bionic robot is established,and the corresponding example analysis and simulation analysis are completed.It includes: using Simulink to analyze the dynamic change of experimental parameters with time,using Adams software to establish rigid body model and rigid-flexible coupling model of robots for dynamic simulation and processing of motion process.The motion parameters of the robot are qualitatively compared with the simulated data,and the error between the dynamic analysis results and the experimental data is analyzed theoretically.The structure and preparation technology of the joints driven by dielectric elastomer are improved in order to have better comprehensive performance in output torque,voltage-induced deformation,reliability and so on.The main contents are as follows: according to the theoretical formula of bending beam,the theoretical basis of output torque increase is given;the structure of the driver is improved by different fabrication techniques;the voltage-induced deformation and output torque of two kinds of DE actuators are measured by setting up an experimental platform;the comprehensive performance of the improved structure is proved to be superior by many experiments.The improved joint actuator driven by dielectric elastomer is applied to the research of bionic running robot,and the structure of the robot is improved based on the results of dynamic analysis.The preparation technology of software running robot was studied,and the robot motion performance test,road adaptability test and load ability test were completed,and compared with the motion performance of the same kind of robot to discover the advantages and disadvantages of the software running robot studied.