介电弹性体式蛙型仿生软体机器人设计

A frog-shaped bionic soft robot with a dielectric elastomer as the actuator is designed based on the advantages of frog propulsion method and soft materials for realizing the miniaturization of robot and enhancing its environmental adaptability. According to the tensile properties of material, the manufacturing process was determined and the actuator was simulated by finite element method, and the motion trajectory planning and real underwater test of robot legs were carried out. A propulsion efficiency model was constructed by considering various parameters during swimming, and the most efficient motion parameters were determined. Experimental results show that the maximum swimming speed of the robot is as high as 132 mm/s at a frequency of 2 Hz and a voltage of 5 kV. Compared with the dimensionless model parameters of amphibians, the motion characteristics of the robot are close to those of real creatures, and it has good motion capability.