The invention discloses a pure soft bionic jellyfish robot based on dielectric elastomers, which belongs to the technical field of soft robots and comprises a driving mechanism and a tentacle mechanism. The driving mechanism is of a cavity structure, an opening is formed in the lower end of the driving mechanism, and the side wall of the driving mechanism is of a paper folding structure. When being electrified, the driving mechanism is unfolded; during power failure, the driving mechanism automatically shrinks to restore the original shape; a tentacle mechanism is arranged below the driving mechanism and comprises a plurality of tentacle assemblies arranged in the annular direction. Based on the electric driving principle of dielectric elastomers, the laminated dielectric elastomers are adopted to drive the thin film to be combined with the flexible frame to form the paper folding structure, the paper folding structure is unfolded when powered on, the paper folding structure is restored when powered off, a water pump is formed, and therefore the whole soft robot is driven to move upwards. The underwater electrically-driven soft robot is of a pure soft structure and is high in flexibility, flexibility and environment adaptability, and the application range of the underwater electrically-driven soft robot is expanded.

    本发明公开了一种基于介电弹性体的纯软体仿生水母机器人,属于软体机器人技术领域,包括驱动机构和触手机构;所述驱动机构为空腔结构且下端设有开口,所述驱动机构侧壁为折纸结构;通电时,所述驱动机构展开;断电时,所述驱动机构自行收缩恢复原状;所述驱动机构下方设有触手机构,所述触手机构包括若干个呈环向设置的触手组件。本发明基于介电弹性体的电驱动原理,采用叠层介电弹性体驱动薄膜与柔性框架结合形成折纸结构,当通电时折纸结构展开,断电时折纸结构重新恢复,形成了一个水泵,从而带动整个软体机器人向上运动。本发明为纯软体结构,灵活性、柔顺性和环境适应能力较强,扩展了水下电驱动软体机器人的应用范围。


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    Title :

    Pure soft bionic jellyfish robot based on dielectric elastomer


    Additional title:

    一种基于介电弹性体的纯软体仿生水母机器人


    Contributors:
    LI ZHONGJIE (author) / SHE XIANGDONG (author) / PENG YAN (author) / GONG YING (author) / XIE XIE (author)

    Publication date :

    2024-10-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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