Bionic robot driven by soft body mode

一种仿生机器人、软体的技术，应用在仿生机器人领域，能够解决无法进行应用等问题，达到量程大、响应快、精度高的效果

Inactive Publication Date: 2020-11-27
NORTHEAST DIANLI UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the previous studies on the external structure of piezoelectric actuators, most of them used rigid structures, which could not be applied to soft bionic robots. Therefore, a piezoelectric actuator with soft structure was designed to make it a driving method for soft bionic robots. , with no transmission mechanism, high displacement control accuracy, up to 0.01 micron, fast response, about 10 microseconds, no mechanical anastomosis gap, voltage-following displacement control can be realized, and all-round movement under water can be realized Etc

Method used

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Embodiment Construction

[0015] The invention includes a drive module and an execution module. The drive module is composed of a frame, a fixed plate, a piezoelectric ceramic stack, electrodes, and a wireless energy supply coil; the execution module is a housing made of PDMS membrane.

[0016] Simulate the structure of the designed soft piezoelectric drive, determine its mode, know the natural frequency of the mode, select the required first-order and third-order modes, and make the first-order mode by changing the size and shape of the structure. It is equal to or close to the third-order natural frequency.

[0017] The principle of the piezoelectric actuator is a device that converts electrical energy into mechanical energy or mechanical motion by using the inverse piezoelectric effect, because the output displacement of the piezoelectric actuator itself is too small. Therefore, its output displacement is amplified using a piezoelectric stack.

[0018] This device utilizes the inverse piezoelectri...

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PUM

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Abstract

The invention provides a bionic robot driven by a soft body mode. The bionic robot comprises a driving module, an executing module and a soft body mode driving method. The driving module comprises driving feet, fixing pieces, an epoxy resin bonding layer, a piezoelectric ceramic reactor, electrodes, a wireless energy supply coil and the like and is used for providing a power source for the robot.The executing module is mainly composed of a PDMS film and packages a piezoelectric driver as a whole. The two modules are matched with each other to achieve six-degree-of-freedom movement of the robot. The soft body piezoelectric driver is used as the power source, and the movement direction of the driver is controlled by controlling the magnitude of the excitation frequency. The bionic robot designed by the invention has the advantages that a transmission mechanism is not needed, the displacement control precision is high and can reach 0.01 micrometer, the response speed is fast and about 10microseconds, no mechanical fit clearance exists, voltage follow-up type displacement control can be achieved, and all-dimensional movement under water can be achieved.

Description

technical field [0001] The invention relates to a bionic robot driven by a soft body mode. Background technique [0002] In recent years, with the development of robots in the direction of intelligence, the research field of bionic robots has attracted extensive attention from domestic and foreign researchers. The research concept of bionic robot is based on the principle of bionics. By imitating the external structure, movement characteristics and behavior of the biological system in nature, the robot that can work with biological characteristics has gradually shown in the fields of emergency rescue and disaster relief, deep sea exploration and space. It has a good application prospect. In order to make the bionic robot adapt to different working environments and achieve the expected motion effect, the research on the driving mode of the bionic robot is particularly important. Traditional bionic robots use motor drive, pneumatic drive, shape memory material drive, electro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0009B25J9/0012
Inventor 王俊尧李云鹏刘欢佘进波孙功臣陈星宇
Owner NORTHEAST DIANLI UNIVERSITY
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