Research On Driving Performance Of Flexible Crawling Robot Based On Electrodeformation

In the field of robotics,robots driven by flexible materials have attracted more and more attention from scientists and researchers.The performance of a robot is mainly determined by its driving system.The traditional driving devices are all rigid parts,which are easily damaged by collision or impact.The driving device made of flexible materials can avoid this kind of situation.When the dielectric elastomer in the flexible actuator is under high voltage,the DE material deforms,which is transmitted to the ground through the friction foot to drive the robot.Aiming at the shortcomings of the traditional actuator and its motion principle,this paper designs a kind of crawling robot driven by flexible materials,which has relatively good crawling performance and high load capacity.The main research work of this paper is as follows:Firstly,the theory related to dielectric elastomer is summarized based on predecessors.According to the theory and reality,several different actuator schemes are combined.After comparing the advantages and disadvantages of different schemes,one of them is selected.Manufacturing then starts according to the chosen scheme.In the manufacturing process,in order to get the best spacing of support on the DE material,this paper designed a spacing experiment,and finally determined the best supporting distance suitable for the size of the driver.In addition,this paper also designed a DE material tensile device,used to pre-stretch the material.In order to improve the success rate of device cutting and improve the manufacturing method in the manufacturing process,edge protection is added in the device.Secondly,the simulation and experiment of the algorithm are carried out for the performance of the driver.In this paper,an Interpolation Fitting Estimation Algorithm(IFEA)is constructed to predict the elongation of DE film under different restricting conditions.It is concluded that the film has a better performance under the condition ofλ=3,and the experimental results are in good agreement with the predicted results.The experiment is mainly carried out from three aspects.The first one is material.In this paper,different pre-stretching parameters,different frequency ranges and duty cycles are set.To determine the best range of parameters from three aspects.The second is the crawling performance test of the robot.The experiment mainly tests the crawling performance of the robot under different frequencies and duty cycles.Finally,it is the load performance test of the robot.Through the test,we can conclude that the robot in this paper has a greater load performance than some robots on the market.Finally,this paper improves the crawling robot and tests its fatigue performance.The modification of the robot mainly focuses on how to expand its crawling ability.For this reason,this paper designs a dual-drive mode,which realizes the steering of the crawling robot through the separate control of the driver on the left and right sides,and further improves the flexibility of the robot through this mode.After that,the possible influencing factors of the fatigue performance of the driver were tested through the data collected by single chip microcomputer.