Design of Quadruped robot single-leg system by Ionic polymer metal composites actuators array

被引：0
|
作者：
Zhang Xiaojun [1 ]
Wang Man [1 ]
Zhang Minglu [1 ]
Li Manhong
Yu Sujun
机构：
[1] Hebei Univ Technol, Tianjin 300401, Peoples R China
来源：
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE-ROBIO 2021) | 2021年
基金：
中国国家自然科学基金;
关键词：
D O I：
10.1109/ROBIO54168.2021.9739323
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Soft actuators composed of ionic polymer metal composites actuators (IPMCs) can provide remarkable performance such as high power-to-weight ratios for the soft robots. Our work presents the kinematic design of the single bionic leg. The IPMC array muscle composed of a single IPMC is installed on the silica gel, and the plastic is used as the supporting skeleton to improve the stiffness of the overall driving muscle in the SolidWorks. Moreover, Denavit-Hartenberg (D-H) matrix and kinematic were established for single-leg mechanism. Finally, workspace of single-leg system and torque of joints for hip and knee joints were calculated theoretically, according to the actuation results of single IPMC actuators.
引用
收藏
页码：927 / 931
页数：5
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