ICPF驱动的柔性微型机器龟腿的动力学分析

一种新型仿龟的柔性微型机器人,具有四条腿并能在水下爬行和游动,其中龟腿由一种智能薄膜ICPF(Ionic Conducting Ploymer Fil m)驱动。ICPF具有被低电压驱动、柔性和快速响应的特点。为了提高机器龟的可靠性和灵活性,我们运用伪刚体动力学法(PRBDM)建立了机器龟腿的动力学模型,此模型是基于静力学和运动学并考虑了动态影响因素建立起来的。然后,分析了机器龟腿的角位移幅度系数的变化规律。最后通过实验测量了机器龟腿末端的位移,其变化规律与理论上推导出的结果相近,因此验证了龟腿的动力学模型可以比较精确地反映龟腿的摆动角度位移,可以分析龟腿的频率特性。

Analysis on Dynamics for Flexible Leg of ICPF Actuated Tortoise-like Micro-robot*

A novel tortoise-like flexible micro-robot with four legs is presented,which can crawl and swim underwater.The legs are actuated by ICPF(Ionic Conducting Polymer Film)and can be driven by a low voltage.ICPF is a kind of smart films,it has the characteristics of flexibility and good response.For analyzing the characters of the robot and improving the reliability and feasibility,we establish a dynamic model of the micro-robot by applying Pseudo-Rigid-Body-Dynamic-Model(PRBDM).The model is established on the base of staties and kinetics by considering the dynamic effect of the robot.Then,the displacement of the legs of the micro-robot is investigated based on PRBDM.The relation between the displacement of the robot legs and the frequency of the electrical voltage is theoretically derived from the PRBDM model and some analyses and experiment graphs about the relation are performed.