The invention provides a starfish-imitating soft robot based on 4D printing and a control method thereof, and belongs to the technical field of robots. The starfish-imitating soft robot comprises a supporting unit and five wrist foot units; the five wrist-foot units are connected with the supporting unit in a central symmetry manner; each wrist-foot unit comprises a driving element and an executing element; the execution element is made of a liquid crystal elastomer; the driving element is attached to the upper surface of the execution element and connected with an external power source, and electric energy of the external power source is converted into heat energy so as to drive the execution element to be bent and deformed. The structural complexity of the robot is reduced, and the environment adaptability of the robot is improved. The control method comprises the steps that the driving elements of all the wrist-foot units are powered on through an external power source on the basis of an expected track so as to drive the execution elements to be bent and deformed, the magnitude of voltage applied to the driving elements of all the wrist-foot units is controlled through a closed-loop PD type iterative learning method, and the control precision of robot motion is improved.

    本发明提供一种基于4D打印的仿海星软体机器人及其控制方法,属于机器人技术领域,仿海星软体机器人包括支撑单元及5个腕足单元;5个腕足单元呈中心对称状与支撑单元连接;各腕足单元均包括驱动元件和执行元件;执行元件的材料为液晶弹性体;驱动元件贴附在执行元件的上表面,并与外部电源连接,将外部电源的电能转换成热能,以驱动执行元件发生弯曲变形。降低了机器人的结构复杂度,提高了机器人的环境适应能力。控制方法包括:基于期望轨迹,通过外部电源给各腕足单元的驱动元件通电,以驱动执行元件发生弯曲变形,并采用闭环PD型迭代学习的方法控制施加在各腕足单元的驱动元件上的电压大小,提高了机器人运动的控制精度。


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    Titel :

    Starfish-imitating soft robot based on 4D printing and control method of starfish-imitating soft robot


    Weitere Titelangaben:

    一种基于4D打印的仿海星软体机器人及其控制方法


    Beteiligte:
    ZHANG YUYAN (Autor:in) / REN ZHIXIN (Autor:in) / DONG ZHICHAO (Autor:in) / WEN YINTANG (Autor:in) / JIA YOUCHI (Autor:in) / YAO HAIYING (Autor:in) / ZHOU ZIXIANG (Autor:in) / DI YUE (Autor:in)

    Erscheinungsdatum :

    2023-04-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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