关键词: 振动驱动, 介电弹性体, 参激振动, 运动机器人

Abstract: The vibration-driven device is an operating carrier in complex environments, and its driving methods are currently mainly driven by rigid components such as motors and piezoelectric devices. However, there is relatively little research on the use of soft driving materials such as dielectric elastomers in the device. This article aims to study the characteristics of vibration-driving devices under dielectric elastomer excitation. The results indicate that the device can achieve forward and reverse motion in an isotropic friction environment. Compared to the rigid component driving method, the dielectric elastomer driving method improves the lightweight and flexibility of the system; And the principle of periodic variable stiffness excitation is utilized to generate high-order harmonics in the device, thus eliminating the need for external asymmetry, such as the asymmetry of friction coefficient or the asymmetry of control waveform. Make the device more adaptable and suitable for working in environments that are sensitive to external interference.

Key words: vibration-driven, dielectric elastomer, parametric vibration, locomotion robot