Research On Ground Locomotive Robot Based On Dielectric EAP

As a type of electroactive polymer,dielectric EAP can deform under the actuation of voltage,with the advantages of high strain,flexibility and high energy density.Through the design and analysis of a two-degrees-of-freedom cylindrical actuating unit using dielectric EAP as actuating material,a ground locomotive robot with elongation and bending gaits is realized,which has potential application in the field of biomimetic robots.The method of increasing the output force of the actuator unit is analyzed and the scheme of increasing the winding diameter is determined.Based on the design requirements,a new EAP film biaxial stretching machine was realized.The experiment shows that the equipment can realize the prestretching of EAP.The structure of the cylindrical drive unit is improved,and the basic parameters of the unit are analyzed and determined.Through the experiments and analyses of the manufacturing process of the unit,the problem of electrode dislocation is solved.The results show that the drive unit is reliable and can produce linear telescopic and bending motion during the limiting voltage tests.The output displacement and output angle of the drive unit are 26.88 mm and 90 ° at 5 kV.The dynamic model of the linear and bending motion of the cylinder drive unit is established.Through solving dynamic output of the linear displacement and the bending angle of the drive unit,and acquiring the dynamic response test of the step and square wave input signals to the driving unit,The dynamic response of the drive unit is obtained by solving the dynamic output of the linear displacement and the bending angle of the drive unit.The test and analysis results are in good agreement.Based on the actuator unit,single and double floor mobile robot are designed.On the basis of laboratory experiments,the telescopic and bending motion experiments of different robots on the ground(grass and concrete)were carried out.The experimental results show that the robot can move forward and backward in the field,and the moving speed of single and double robots is 3.25 mm/s and 2.69 mm/s,and the reason of the speed of motion is analyzed.