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一种基于介电弹性体的鳗鱼状机器人。

An eel-like robot based on a dielectric elastomer.

作者信息

Zhang Chenghong

机构信息

School of electronics & information engineering, Guiyang University, Guiyang, Guizhou, China.

Key Laboratory of Advanced Manufacturing technology, Ministry of Education, Guizhou University, Guiyang, Guizhou, China.

出版信息

PLoS One. 2025 Jul 9;20(7):e0324738. doi: 10.1371/journal.pone.0324738. eCollection 2025.

DOI:10.1371/journal.pone.0324738
PMID:40632709
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC12240303/
Abstract

Eels have attracted significant research interest because of their long-distance migration and high-endurance cruising behavior. An underwater eel-like robot design inspired by these creatures has the potential for high efficiency, strong maneuverability and high stability. The propulsive biomimetic eel-like robot has the lowest energy consumption per unit distance, and its flexible body is conducive to movement and operation in narrow spaces; this is expected to become the research and development direction for underwater biomimetic robots. Dielectric elastomers (DEs) are smart, soft materials that exhibit significant deformation under an electric field and have the characteristics of large strain, fast response, light mass, etc. Applying DEs in the effort to develop bionic robots affords a unique advantage. This study introduces an eel-inspired swimming robot. First, a cylindrical dynamic model of a DE is established. Second, considering the eel as the bionic object, a tube actuator and tube joint driving module are designed to improve manufacturability. Finally, the tube drive module is connected and the head part, tail part and tail fin are installed to make an eel-like robot based on a DE. A kinematic model of the eel-like robot is established, its forward motion speed is studied, and its propulsion speed, swimming number and swimming shape are analyzed. The results show that the robot can realize an S-type angle swinging motion.

摘要

鳗鱼因其远距离洄游和高耐力巡航行为而吸引了大量的研究兴趣。受这些生物启发而设计的水下类鳗机器人具有高效、强机动性和高稳定性的潜力。仿生鳗鱼推进式机器人每单位距离的能耗最低，其灵活的身体有利于在狭窄空间内移动和操作；这有望成为水下仿生机器人的研发方向。介电弹性体（DEs）是一种智能软材料，在电场作用下会发生显著变形，具有大应变、快速响应、质量轻等特点。将介电弹性体应用于仿生机器人的研发具有独特优势。本研究介绍了一种受鳗鱼启发的游泳机器人。首先，建立了介电弹性体的圆柱形动力学模型。其次，以鳗鱼为仿生对象，设计了管形驱动器和管形关节驱动模块，以提高可制造性。最后，连接管形驱动模块并安装头部、尾部和尾鳍，制作出基于介电弹性体的类鳗机器人。建立了类鳗机器人的运动学模型，研究了其向前运动速度，并分析了其推进速度游泳次数和游泳形态。结果表明，该机器人能够实现S型角度摆动运动。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/7cdb/12240303/93f97a6574b1/pone.0324738.g015.jpg
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