“刚-柔”共融型仿生机器鱼  

Bio-inspired rigid-soft coexisting robotic fish

作　　者：梁艺鸣 曹许诺 陈祥平 张明琦 张桢 华强 李铁风[1,3,4] LIANG YiMing;CAO XuNuo;CHEN XiangPing;ZHANG MingQi;ZHANG Zhen;HUA Qiang;LI TieFeng(The State Key Laboratory of Fluid Power Transmission and Control,Zhejiang University,Hangzhou 310027,China;Zhejiang Lab,Hangzhou 310000,China;Institute of Applied Mechanics,Zhejiang University,Hangzhou 310027,China;Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province,Hangzhou 310027,China)

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,杭州310027 [2]之江实验室,杭州310000 [3]浙江大学应用力学研究所,杭州310027 [4]浙江省软体机器人与智能器件研究重点实验室,杭州310027

出　　处：《中国科学：技术科学》2018年第12期1295-1301,共7页Scientia Sinica(Technologica)

基　　金：国家自然科学基金(批准号:11572280;11321202;11432012;U1613202);中国科协青年人才托举工程(编号:YESS20150004);浙江省自然科学基金(编号:LR18A020001)资助项目

摘　　要：智能软材料以其高柔顺度、多功能、多物理场效应等优良行为得到了研究者们的关注.作为一类典型的智能软材料,介电高弹体(DE)具有电驱动大变形、快速响应、质轻价廉、生物亲和性好等优点,具有广阔的应用前景.该材料尤其适合作为人工肌肉应用到仿生机器人中,实现其结构柔软与大变形驱动.本文以蝠鲼为仿生原型,基于材料的电压驱动控制大变形机制,设计优化了一类介电高弹体薄膜面内驱动变形转化为扑动-波动混合型推进的驱动机构.将该机构用于胸鳍驱动的机器鱼系统,通过电子器件-刚性结构-柔性材料的融合集成,成功设计了一种材料与结构"刚-柔"共融型仿生机器鱼,并开展了相应的性能测试和功能集成."刚-柔"共融型仿生机器鱼通过分别独立控制两个胸鳍机构,可实现良好的机动性能;并利用高分子材料特性,可实现结构柔软与全透明化等优异的环境适应性能.该研究结果和机构设计原理将有望为"刚-柔"共融型机器人和仿生机器人的研究与应用提供参考.Soft active materials have been widely studied due to their unique attributes of high compliance, various functions and multi physics coupling effects. As a typical soft active material, dielectric elastomer(DE) is promising in various applications, possessing the advantages of large voltage-induced actuation, fast response, lightweight, low cost and high biocompatibility. Utilizing the good performance of large actuation and high compliance, dielectric elastomer is an idea material to drive bio-inspired robot as the artificial muscle. This paper has designed a Manta Ray inspired robotic fish. Utilizing the large actuation of DE membrane, the robot achieves the coupling propulsion of flapping and undulatory motions. The electronics of power and control have been co-fabricated in the body of the robot. The robot achieves good mobility and high environmental adaptability based on its fully soft and transparent structure.The experimental results and design principle of this paper may guide the future design and application of "soft-rigid" co-existed robots and bio-inspired robots.

关 键 词：介电高弹体 共融机器人 仿生机器鱼 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]