We present a smart robot structure that exploits anisotropic friction to achieve stick-slip locomotion. The robot is made out of three components: a plastic beam, a planar dielectric elastomer actuator and four bristle pads with asymmetric rigid metallic bristles. We show that when the robot is electronically activated at increasing frequency, its structure exploits the resonance condition to reach the maximum locomotion speed. The fundamental frequency of the structure is estimated both analytically and numerically, allowing the range of frequencies in which the top locomotion speed was observed during the experiments to be identified. The locomotion speed of the robot as a function of the actuation frequency is estimated with a frequency response analysis performed on a discretised model of the structure, revealing good agreement with the experimental evidence.

A soft robot structure with limbless resonant, stick and slip locomotion

Gei, Massimiliano;
2019-01-01

Abstract

We present a smart robot structure that exploits anisotropic friction to achieve stick-slip locomotion. The robot is made out of three components: a plastic beam, a planar dielectric elastomer actuator and four bristle pads with asymmetric rigid metallic bristles. We show that when the robot is electronically activated at increasing frequency, its structure exploits the resonance condition to reach the maximum locomotion speed. The fundamental frequency of the structure is estimated both analytically and numerically, allowing the range of frequencies in which the top locomotion speed was observed during the experiments to be identified. The locomotion speed of the robot as a function of the actuation frequency is estimated with a frequency response analysis performed on a discretised model of the structure, revealing good agreement with the experimental evidence.
File in questo prodotto:
File Dimensione Formato  
430.pdf

accesso aperto

Tipologia: Bozza finale post-referaggio (post-print)
Licenza: Creative commons
Dimensione 5.8 MB
Formato Adobe PDF
5.8 MB Adobe PDF Visualizza/Apri
430-SMS19-Soft-Robot-structure.pdf

Accesso chiuso

Tipologia: Documento in Versione Editoriale
Licenza: Copyright Editore
Dimensione 1.41 MB
Formato Adobe PDF
1.41 MB Adobe PDF   Visualizza/Apri   Richiedi una copia
Pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11368/2971161
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 25
  • ???jsp.display-item.citation.isi??? 23
social impact