No abstract

To produce multi-modal mobility in complicated situations is a significant issue for soft robots. In this study, we show the conception, construction, and operation of an inchworm-impersonating dielectric elastomer-activated soft robot. The robot is small and lightweight, weighing only 3.5 g, and measuring an overall 110 mm by 50 mm by 60 mm (length, width, and height). The three mobility modes for the robot are each equipped with a detailed mechanism. When the excitation voltage is 5 kV, the robot runs forward under a frequency of stimulation of 1–9 Hz, and its direction of motion changes to a backwards motion at >10 Hz. When the excitation voltage of 5.5 kV is applied to the robot, the robot runs forward at 1–12 Hz frequency and moves in the opposite direction at 13 Hz, reaching the fastest reverse speed of 240 mm/s. When the excitation voltage rises to 6 kV, the robot reaches its fastest running speed of 270 mm/s at 14 Hz. Motivated by high voltage and high duty cycle, the robot can jump over obstacles of 5 mm. In order to assess the performance of backward running, the speed achieved by the robot under a 30% duty cycle and a 50% duty cycle was compared, as well as the speed of the robot with or without the use of a counterweight. The robot has a simpler design and construction than earlier soft robots of the same kind, as well as a quicker speed, a wider variety of movement modes, and other notable advantages.