恒温环境中湿度驱动软体轮式机器人

Soft Wheeled Robot Driven by Humidity in Uniform Temperature Environment

对软体机器人的无系留驱动方式探索是当前软体机器人领域一个重要的研究方向,但当前的无系留软体机器人驱动,大都需要交替改变环境条件来实现定向驱动,为此,本文提出一种能够在恒温环境下由湿度驱动的无系留软体轮式机器人,基于硫酸纸和Ecoflex⁃0030的温湿度效应形变机理,实现了对其在稳定的温度环境中定向滚动控制。将硅胶材料Ecoflex⁃0030涂布在硫酸纸上制成双层材料,基于该材料剪切而成的4个软体驱动叶片粘贴在滚轮上,通过在温、湿度环境下4个软体驱动叶片的可控形变,实现对轮式结构主动推进的控制。研究了硫酸纸的形变机理,给出了车轮叶片尺寸、驱动力矩的设计,并对机器人的动力学进行了建模分析,制作了实物样机并对其进行了滚动测试。实验表明:从给定驱动叶片初始状态,车轮在55 s内运动了约85 mm,进一步,通过将驱动叶片交错相位布置的两个驱动轮串联联接,制作成两轮驱动小车,验证了设计的可行性。该研究成果对设计新型温湿度控制的无系留软机器人和软机器的设计具有重要意义。

The exploration of the untethered driving method of soft robot is an important research field.However,most of the untethered soft robot driving requires alternate changes in environmental conditions to achieve directional movement.For this reason,an untethered soft wheeled robot driven by humidity in a uniform temperature environment is proposed,and based on the temperature and humidity effect deformation mechanism of sulfuric acid paper and Ecoflex⁃0030,its directional rolling in a stable environment is realized.The silicone rubber material Ecoflex⁃0030 is deposited on one side of sulfuric acid paper to make a double layer material.The four soft⁃driven blades were cut and pasted on the roller.Through the controllable deformation of the four blades in the temperature and humidity environment,realizing the control of active propulsion of the wheel structure.Deformation mechanism of sulfuric acid paper,the design of wheel blade size,driving torque are introduced in detail,and the dynamics of the robot is modeled and analyzed.The prototype of the Self⁃rolling robot is built and tested.Given the initial state of the drive blades,the wheel moved about 85 mm in 55 s.Furthermore,the two⁃wheel driving trolley was made by series connecting the two wheels with the driving blades in a staggered phase to verify the feasibility of the design.The results are of great significance for designing the temperature and humidity control untethered soft robot.