A soft robot structure with limbless resonant, stick and slip locomotion

被引：27

作者：

Calabrese, Luigi ^{[1
,2
]}

Berardo, Alice ^{[1
]}

De Rossi, Danilo ^{[2
,3
]}

Gei, Massimiliano ^{[4
]}

Pugno, Nicola Maria ^{[1
,5
,6
]}

Fantoni, Gualtiero ^{[7
]}

机构：

[1] Univ Trento, Dept Civil Environm & Mech Engn, Lab Bioinspired & Graphene Nanomech, Via Mesiano 77, I-38123 Trento, Italy

[2] Univ Pisa, Res Ctr E Piaggio, Largo L Lazzarino 2, I-56122 Pisa, Italy

[3] Univ Pisa, Dept Informat Engn, Via G Caruso 16, I-56122 Pisa, Italy

[4] Cardiff Univ, Sch Engn, Cardiff CF24 3AA, S Glam, Wales

[5] Queen Mary Univ London, Sch Engn & Mat Sci, Mile End Rd, London E1 4NS, England

[6] Edoardo Amaldi Fdn, Ket Lab, Via Politecn Snc, I-00133 Rome, Italy

[7] Univ Pisa, Dept Civil & Ind Engn, Largo L Lazzarino 2, I-56122 Pisa, Italy

来源：

SMART MATERIALS AND STRUCTURES | 2019年 / 28卷 / 10期

关键词：

actuator; dielectric elastomer; electroactive polymer; frictional anisotropy; resonator; soft robotics; FREQUENCY;

D O I：

10.1088/1361-665X/ab3de1

中图分类号：

TH7 [仪器、仪表];

学科分类号：

0804 ; 080401 ; 081102 ;

摘要：

We present a smart robot structure that exploits anisotropic friction to achieve stick-slip locomotion. The robot is made out of three components: a plastic beam, a planar dielectric elastomer actuator and four bristle pads with asymmetric rigid metallic bristles. We show that when the robot is electronically activated at increasing frequency, its structure exploits the resonance condition to reach the maximum locomotion speed. The fundamental frequency of the structure is estimated both analytically and numerically, allowing the range of frequencies in which the top locomotion speed was observed during the experiments to be identified. The locomotion speed of the robot as a function of the actuation frequency is estimated with a frequency response analysis performed on a discretised model of the structure, revealing good agreement with the experimental evidence.

引用

页数：14

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