Four-foot crawling micro-robot and control method

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Four-foot crawling micro-robot and control method

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WU YICHUAN / HAO PENGFENG / WANG PENG / PENG BEI / WEI DUNWEN / GUO XINKAI

The invention provides a four-foot crawling micro-robot and a control method. The micro-robot comprises a flexible driver, a flexible actuator and a load platform; the flexible driver comprises a piezoelectric film located on the lower layer and an insulating film located on the upper layer. The upper surface and the lower surface of the piezoelectric film are respectively plated with a conductive layer used for being connected with alternating current excitation. The flexible actuators are arranged on the left side and the right side of the robot, and each flexible actuator comprises a leg structure, a driver installation plate, a load platform installation plate and a twisted wire structure connecting the leg structure and the load platform installation plate. The robot is driven by the flexible driver, compared with a traditional motor serving as a driver, the flexible driver is simple in structure, the flexible actuator is directly driven, response is fast, efficiency is high, the driver and the actuator are both made of flexible materials, and the robot has the advantages of being high in impact resistance and reliability. Meanwhile, the invention provides a control method for controlling the motion direction of the robot by adjusting the frequency of the alternating current.

本发明提供了一种四足爬行微型机器人及控制方法。微型机器人包括柔性驱动器、柔性执行器和负载平台；柔性驱动器包括位于下层的压电薄膜和上层的绝缘薄膜，压电薄膜的上下表面分别镀有用于连接交流电激励的导电层；柔性执行器在机器人左右两侧，每一个包含腿部结构、驱动器安装板、负载平台安装板和连接腿部结构和负载平台安装板的绞丝结构。机器人通过柔性驱动器驱动，相对于传统的电机作为驱动器，本发明的柔性驱动器结构简单，并直接驱动柔性执行器，反应快，效率高，并且驱动器和执行器均为柔性材料制成，具有抗冲击性和可靠性高的特点。同时，本发明提供一种通过调节交流电频率的方式来控制机器人运动方向的控制方法。