Research on crawling-jumping robot driven by dielectric elastomers

doi:10.3785/j.issn.1006-754X.2025.05.127

Chinese Journal of Engineering Design

2025, Vol. 32

Issue (3): 316-325 DOI: 10.3785/j.issn.1006-754X.2025.05.127

Robotic and Mechanism Design

Research on crawling-jumping robot driven by dielectric elastomers

Feng PAN¹(

),Jiaping RUAN²,Wei TANG²(

),Jun ZOU²

^1.Zhejiang Sunny Optical Intelligence Technology Co. , Ltd. , Hangzhou 310051, China
^2.State Key Laboratory of Fundamental Components of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China

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Abstract

Robots capable of both crawling and jumping demonstrate superior adaptability to complex environments compared to those with a single movement mode. Additionally, their soft actuators offer significant advantages such as large deformation and simple structure. Based on the soft actuation method of dielectric elastomer, a crawling-jumping soft robot was designed. Firstly, a bi-stable dielectric elastomer actuator was designed, consisting of a dielectric elastomer membrane, soft electrodes, reinforcing ribs, and a flexible frame. The actuator exhibited bi-stable states in both transverse and longitudinal directions. Through analysis and experiments, the size parameters of the actuator were determined. Secondly, a bi-stable dielectric elastic actuator was fabricated using VHB4910 dielectric elastic membrane. The influence law of pre-stretching rate of membrane on the dynamic response of actuator was studied, and its output torque was tested. The results confirmed that the actuator could enable the robot to jump. Then, based on the dielectric elastomer actuator, a crawling-jumping robot was designed, comprising a crawling module and a jumping module. The robot was capable of moving straight, turning and jumping. Finally, a prototype of crawling-jumping robot was fabricated and tested. The test results showed that the robot achieved a maximum movement speed of 10 cm/s (equivalent to traveling 1.25 body lengths per second), a maximum turning speed of 12(°)/s, a jumping height of approximately 5 mm, and a jumping distance of approximately 3 cm. These findings provide a novel scheme for structural design and actuation of crawling-jumping soft robots.

Key words： soft actuation dielectric elastomer bi-stable state soft actuator soft robot

Received: 02 April 2025 Published: 02 July 2025

CLC:

TH 122

Corresponding Authors: Wei TANG E-mail: fpan@sunnyoptical.com;weitang@zju.edu.cn

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Cite this article:

Feng PAN,Jiaping RUAN,Wei TANG,Jun ZOU. Research on crawling-jumping robot driven by dielectric elastomers. Chinese Journal of Engineering Design, 2025, 32(3): 316-325.

URL:

https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2025.05.127 OR https://www.zjujournals.com/gcsjxb/Y2025/V32/I3/316

介电弹性体驱动的爬行-跳跃机器人研究

具备爬行与跳跃功能的机器人比只能单一运动的机器人更能适应复杂环境，同时其柔性驱动器具有驱动变形大、结构简单等优势。基于介电弹性体的柔性驱动方式，设计了一种爬行-跳跃软体机器人。首先，设计了一种双稳态介电弹性体执行器，其由介电弹性体膜、柔性电极、加强筋和柔性框架构成，具有横向和纵向两个双稳态，并通过分析和试验确定了其尺寸参数；其次，采用VHB4910介电弹性体膜制作了双稳态介电弹性体执行器，研究了薄膜预拉伸率对执行器动态响应的影响规律，并测试了其输出力矩，验证了采用该执行器可实现机器人跳跃；接着，基于介电弹性体执行器，设计了爬行-跳跃机器人，其由爬行模块和跳跃模块组成，可实现直行、转弯和跳跃等动作；最后，制作了爬行-跳跃机器人实物并进行了测试。测试结果表明：机器人最大运动速度为10 cm/s，相当于每秒行进1.25个身长；最大转弯速度为12(°)/s；跳跃高度约为5 mm，跳跃距离约为3 cm。研究结果为爬行-跳跃软体机器的结构设计和驱动提供了新方案。

关键词： 柔性驱动, 介电弹性体, 双稳态, 柔性执行器, 软体机器人

Fig.1 Structure of bi-stable state dielectric elastomer actuator

Fig.2 Two stable deformations of actuator

Fig.3 Actuation principle of dielectric elastomer

Fig.4 Switching process of stable states of actuator

Fig.5 Energy change process of actuator

Fig.6 Schematic of size parameters of actuator

Table 1 Size parameter values of actuator

Fig.7 Fabrication process of actuator

Fig.8 Influence of pre-stretching rate of dielectric elastomer membrane on bending angle under steady state 2 of actuator

Fig.9 Influence of pre-stretching rate of dielectric elastomer membrane on bending angle under steady state 1 of actuator

Table 2 Pre-stretching rate of 4 dielectric elastomer membranes of actuator

Fig.10 Dynamic response curves under steady state 1 of actuators

Fig.11 Dynamic response curves under steady state 2 of actuators

Fig.12 Testing device of output torque of actuator

Fig.13 Mechanical analysis of actuator during testing process

Fig.14 Variation curves of applied force

Fig.15 Variation curves of angle between actuator end and ground

Fig.16 Output torque of actuators

Fig.17 Crawling module

Fig.18 Schematic of motion process of crawling module

Fig.19 Jumping module

Fig.20 Schematic of motion process of jumping module

Fig.21 Overall structure of crawling-jumping robot

Fig.22 Prototype of crawling-jumping robot

Fig.23 Crawling time sequence images of robot

Fig.24 Test results of robot's crawling speed

Fig.25 Turning time sequence images of robot

Fig.26 Test results of robot's turning speed

Fig.27 Jumping time sequence images of robot


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