Yang Jian, Zhou Junyu, Xu Fan, Wang Hesheng
Department of Automation, Shanghai Jiao Tong University, Shanghai, China.
Soft Robot. 2025 Jan 6. doi: 10.1089/soro.2024.0108.
Small-scale soft robots, despite their potential for adaptability in unknown environments, often encounter performance constraints due to inherent limitations within soft actuators and compact bodies. To address this problem, we proposed a fast-moving soft robot driven by electroactive materials. The robot combines the advantages of dielectric elastomer actuators (DEAs) and shape memory alloy (SMA) spring actuators, enabling its high-performance multi-modal locomotion in a small and lightweight design. Theoretical models were constructed for both DEAs and SMA spring actuators to analyze the performance of the designed robot. The robot's design parameters were optimized based on these models to improve its running and jumping performance. The designed robot has a size of 40 × 45 × 25 mm and a weight of 3.5 g. The robot can achieve a running speed of 91 mm/s, ascend a 9° slope, and execute turning motions an asymmetrical actuation of SMA spring actuators. The robot also demonstrates high-performance jumping motions with a maximum jumping height of 80 mm and the ability to jump over a 40 mm high obstacle. This work introduces a novel approach to designing small-scale soft terrestrial robots, enhancing their agility and mobility in obstacle-laden environments.
小型软机器人尽管在未知环境中具有适应潜力，但由于软致动器和紧凑机身的固有局限性，常常面临性能限制。为了解决这个问题，我们提出了一种由电活性材料驱动的快速移动软机器人。该机器人结合了介电弹性体致动器（DEA）和形状记忆合金（SMA）弹簧致动器的优点，能够在小巧轻便的设计中实现高性能的多模态运动。我们为DEA和SMA弹簧致动器构建了理论模型，以分析所设计机器人的性能。基于这些模型对机器人的设计参数进行了优化，以提高其奔跑和跳跃性能。所设计的机器人尺寸为40×45×25毫米，重量为3.5克。该机器人能够实现91毫米/秒的奔跑速度，爬上9°的斜坡，并通过SMA弹簧致动器的不对称驱动执行转弯动作。该机器人还展示了高性能的跳跃动作，最大跳跃高度为80毫米，能够越过40毫米高的障碍物。这项工作介绍了一种设计小型地面软机器人的新方法，提高了它们在充满障碍物环境中的敏捷性和机动性。
