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
相关论文
共 50 条
  • [11] Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot
    Chen, Mingfang
    Chen, Hao
    Wang, Xuejun
    Yu, JiangXuan
    Zhang, YongXia
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2020, 2020
  • [12] A biomimetic jellyfish robot based on ionic polymer metal composite actuators
    Yeom, Sung-Weon
    Oh, Il-Kwon
    SMART MATERIALS AND STRUCTURES, 2009, 18 (08)
  • [13] Research on Bionic Jumping and Soft Landing of Single Leg System in Quadruped Robot
    Jinzhu Zhang
    Miao Li
    Jiandong Cao
    Yuhan Dou
    Xiaoyan Xiong
    Journal of Bionic Engineering, 2023, 20 : 2088 - 2107
  • [14] Research on Bionic Jumping and Soft Landing of Single Leg System in Quadruped Robot
    Zhang, Jinzhu
    Li, Miao
    Cao, Jiandong
    Dou, Yuhan
    Xiong, Xiaoyan
    JOURNAL OF BIONIC ENGINEERING, 2023, 20 (05) : 2088 - 2107
  • [15] Mechanical Model and Analysis of Ionic Polymer Metal Composites Biomimetic Actuators
    Wang, Xuan-Lun
    Oh, Il-Kwon
    Cheng, Tai-Hong
    2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 4751 - 4756
  • [16] Physical Principles of Ionic Polymer–Metal Composites as Electroactive Actuators and Sensors
    Il-Seok Park
    Kwangmok Jung
    Doyeon Kim
    Sang-Mun Kim
    Kwang J. Kim
    MRS Bulletin, 2008, 33 : 190 - 195
  • [17] Motion sensors and actuators based on Ionic Polymer-Metal Composites
    Bonomo, C.
    Fortuna, L.
    Giannone, P.
    Graziani, S.
    Strazzeri, S.
    DEVICE APPLICATIONS OF NONLINEAR DYNAMICS, 2006, : 83 - 99
  • [18] Ionic polymer carbon composites as a new design for electroactive actuators and sensors
    Moore, Robert
    ABSTRACTS OF PAPERS OF THE AMERICAN CHEMICAL SOCIETY, 2015, 249
  • [19] Force optimization of ionic polymer metal composite actuators by an orthogonal array method
    Yu Min
    He QingSong
    Ding Yan
    Guo DongJie
    Li JiaBo
    Dai ZhenDong
    CHINESE SCIENCE BULLETIN, 2011, 56 (19): : 2061 - 2070
  • [20] Force optimization of ionic polymer metal composite actuators by an orthogonal array method
    YU Min HE QingSong DING Yan GUO DongJie LI JiaBo DAI ZhenDong Institute of Bioinspired Structure and Surface Engineering Nanjing University of Aeronautics Astronautics Nanjing China College of Mechanical and Electrical Engineering Nanjing University of Aeronautics Astronautics Nanjing China
    Chinese Science Bulletin, 2011, 56 (19) : 2063 - 2072
12345