The invention relates to the technical field of soft robots and software driving, in particular to a bionic ornithopter with bidirectional stay wires driven by dielectric elastomers. The problems that an existing bionic flapping wing is insufficient in control and poor in bionic flight stability are solved by aiming at the defects of an exploration and control technology of a micro material of an existing bionic robot. According to the technical scheme, a pair of bionic flapping wings are symmetrically arranged on the two sides of the upper portion of a power bin; a driving device is arranged in the power bin and is composed of six dielectric elastomer units which annularly surround an insulating tube and a compression spring which are coaxially arranged, a first dielectric elastomer clamp is arranged on the rear side of the driving device to divide the driving device into a front part and a rear part, and the dielectric elastomer units are formed by rolling thin films. The front-section dielectric elastomer is coated with an electrode, the rear-section dielectric elastomer is coated at intervals to form a lower semicircle coated electrode, and the upper semicircle is not coated; and a dielectric elastomer clamp II and a dielectric elastomer tail clamp are respectively arranged at the front end and the rear end of the driving device.
本发明涉及软体机器人及软件驱动技术领域,具体涉及一种介电弹性体驱动双向拉线的仿生扑翼飞行器。针对目前仿生机器人的微型材料的探索和控制技术的不足,为解决现有仿生扑翼控制不足以及仿生飞行的稳定性差的问题。本发明采用的技术方案为一对仿生扑翼对称设置于动力仓上部两侧;动力仓内设置有驱动装置,由6个介电弹性体单元环形围绕同轴设置的绝缘管和压缩弹簧组成,所述的驱动装置的后侧设置有介电弹性体夹具一将驱动装置分为前后两部分,介电弹性体单元通过薄膜卷制而成,前段的介电弹性体上涂覆电极,后段介电弹性体间隔涂覆后呈现下半圆涂覆电极,上半圆不涂覆;驱动装置的前端和后端分别设置有介电弹性体夹具二和介电弹性体尾夹。
Bidirectional stay wire bionic flapping wing aircraft driven by dielectric elastomer
一种介电弹性体驱动双向拉线的仿生扑翼飞行器
2025-02-14
Patent
Electronic Resource
Chinese