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首页> 外文会议>2018 IEEE International Conference on Soft Robotics >U-turning an agile robotic cube by a soft dielectric elastomer resonator
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U-turning an agile robotic cube by a soft dielectric elastomer resonator

机译：通过软介电弹性体谐振器U形动敏捷机器人立方体

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摘要

Small robot is favorable in diverse application. Dielectric elastomer is soft active material, offering new insight in robotic actuation. This paper describes a lightweight robotic cube driven by a dielectric elastomer resonator (DER). The vibration performance of the DER is experimentally studied and characterized for a fast speed actuation in robotic cube. This robotic cube has an excellent athletic ability. Firstly, without wheel, leg or track, it can locomote rectilinearly at the first mode resonance frequency of DER, with the speed of 0.78 body length per second. Secondly, the robotic cube can change its direction (U-turn) at the second mode resonance frequency of DER. The robotic cube favors simplicity in manufacture and multi-mode locomotion integration controlled by a single actuator at its voltage change.
机译：小型机器人有利于多样化的应用。介电弹性体是柔软的活性材料，为机器人致动提供了新的见识。本文介绍了一种由介电弹性体谐振器（DER）驱动的轻型机器人立方体。对DER的振动性能进行了实验研究，并对其进行了表征，以实现机器人立方体中的快速致动。该机器人立方体具有出色的运动能力。首先，没有轮子，腿或轨道，它可以以DER的第一模式共振频率直线运动，速度为每秒0.78体长。其次，机器人立方体可以在DER的第二模式共振频率下改变其方向（掉头）。机器人立方体有利于简化制造过程，并通过单个致动器在电压变化时控制多模式运动集成。

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  • 来源
  • 会议地点 Livorno(IT)
  • 作者

    Chao Tang; Bo Li; Hualing Chen;

  • 作者单位

    School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, China and State Key Laboratory for Strength and Vibration of Mechanical Structures, Xi'an Jiaotong University, Xi'an 710049, China;

    School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, China and State Key Laboratory for Strength and Vibration of Mechanical Structures, Xi'an Jiaotong University, Xi'an 710049, China;

    School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, China and State Key Laboratory for Strength and Vibration of Mechanical Structures, Xi'an Jiaotong University, Xi'an 710049, China;

  • 会议组织
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Vibrations; Resonant frequency; Actuators; Frequency measurement; Mobile robots; Strain;

    机译：振动;共振频率;执行器;频率测量;移动机器人;应变;;

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