CN109514542A - A kind of flexible manipulator - Google Patents
A kind of flexible manipulator Download PDFInfo
- Publication number
- CN109514542A CN109514542A CN201811531629.3A CN201811531629A CN109514542A CN 109514542 A CN109514542 A CN 109514542A CN 201811531629 A CN201811531629 A CN 201811531629A CN 109514542 A CN109514542 A CN 109514542A
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- CN
- China
- Prior art keywords
- gel
- grasping part
- flexible manipulator
- manipulator according
- flexible
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000463 material Substances 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 4
- 239000012528 membrane Substances 0.000 claims description 3
- 229920001296 polysiloxane Polymers 0.000 claims description 3
- 229920001940 conductive polymer Polymers 0.000 claims description 2
- 229910021389 graphene Inorganic materials 0.000 claims description 2
- 239000004519 grease Substances 0.000 claims description 2
- 239000013528 metallic particle Substances 0.000 claims description 2
- 239000011248 coating agent Substances 0.000 claims 1
- 238000000576 coating method Methods 0.000 claims 1
- 239000002322 conducting polymer Substances 0.000 claims 1
- 229920001971 elastomer Polymers 0.000 abstract description 4
- 230000001788 irregular Effects 0.000 abstract description 2
- 239000002184 metal Substances 0.000 abstract description 2
- 239000000499 gel Substances 0.000 description 43
- 239000004800 polyvinyl chloride Substances 0.000 description 12
- 229920000915 polyvinyl chloride Polymers 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- DOIRQSBPFJWKBE-UHFFFAOYSA-N dibutyl phthalate Chemical compound CCCCOC(=O)C1=CC=CC=C1C(=O)OCCCC DOIRQSBPFJWKBE-UHFFFAOYSA-N 0.000 description 4
- 230000005684 electric field Effects 0.000 description 4
- 239000004014 plasticizer Substances 0.000 description 4
- -1 polyethylene terephthalate Polymers 0.000 description 4
- 239000004372 Polyvinyl alcohol Substances 0.000 description 3
- BJQHLKABXJIVAM-UHFFFAOYSA-N bis(2-ethylhexyl) phthalate Chemical compound CCCCC(CC)COC(=O)C1=CC=CC=C1C(=O)OCC(CC)CCCC BJQHLKABXJIVAM-UHFFFAOYSA-N 0.000 description 3
- 238000009413 insulation Methods 0.000 description 3
- 229920002451 polyvinyl alcohol Polymers 0.000 description 3
- MQIUGAXCHLFZKX-UHFFFAOYSA-N Di-n-octyl phthalate Natural products CCCCCCCCOC(=O)C1=CC=CC=C1C(=O)OCCCCCCCC MQIUGAXCHLFZKX-UHFFFAOYSA-N 0.000 description 2
- 229920002292 Nylon 6 Polymers 0.000 description 2
- 239000004793 Polystyrene Substances 0.000 description 2
- WNLRTRBMVRJNCN-UHFFFAOYSA-N adipic acid Chemical compound OC(=O)CCCCC(O)=O WNLRTRBMVRJNCN-UHFFFAOYSA-N 0.000 description 2
- ZFMQKOWCDKKBIF-UHFFFAOYSA-N bis(3,5-difluorophenyl)phosphane Chemical compound FC1=CC(F)=CC(PC=2C=C(F)C=C(F)C=2)=C1 ZFMQKOWCDKKBIF-UHFFFAOYSA-N 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- ZBCBWPMODOFKDW-UHFFFAOYSA-N diethanolamine Chemical compound OCCNCCO ZBCBWPMODOFKDW-UHFFFAOYSA-N 0.000 description 2
- MIMDHDXOBDPUQW-UHFFFAOYSA-N dioctyl decanedioate Chemical compound CCCCCCCCOC(=O)CCCCCCCCC(=O)OCCCCCCCC MIMDHDXOBDPUQW-UHFFFAOYSA-N 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- KSCKTBJJRVPGKM-UHFFFAOYSA-N octan-1-olate;titanium(4+) Chemical compound [Ti+4].CCCCCCCC[O-].CCCCCCCC[O-].CCCCCCCC[O-].CCCCCCCC[O-] KSCKTBJJRVPGKM-UHFFFAOYSA-N 0.000 description 2
- 229920002239 polyacrylonitrile Polymers 0.000 description 2
- 239000004417 polycarbonate Substances 0.000 description 2
- 229920000515 polycarbonate Polymers 0.000 description 2
- 229920000139 polyethylene terephthalate Polymers 0.000 description 2
- 239000005020 polyethylene terephthalate Substances 0.000 description 2
- 229920002223 polystyrene Polymers 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 229920002689 polyvinyl acetate Polymers 0.000 description 2
- 239000011118 polyvinyl acetate Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000010409 thin film Substances 0.000 description 2
- 239000004803 Di-2ethylhexylphthalate Substances 0.000 description 1
- CERQOIWHTDAKMF-UHFFFAOYSA-M Methacrylate Chemical compound CC(=C)C([O-])=O CERQOIWHTDAKMF-UHFFFAOYSA-M 0.000 description 1
- FXHOOIRPVKKKFG-UHFFFAOYSA-N N,N-Dimethylacetamide Chemical compound CN(C)C(C)=O FXHOOIRPVKKKFG-UHFFFAOYSA-N 0.000 description 1
- 229960000250 adipic acid Drugs 0.000 description 1
- 235000011037 adipic acid Nutrition 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- KKEYFWRCBNTPAC-UHFFFAOYSA-N benzene-dicarboxylic acid Natural products OC(=O)C1=CC=C(C(O)=O)C=C1 KKEYFWRCBNTPAC-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 239000002305 electric material Substances 0.000 description 1
- 229920001746 electroactive polymer Polymers 0.000 description 1
- 150000002148 esters Chemical class 0.000 description 1
- LYCAIKOWRPUZTN-UHFFFAOYSA-N ethylene glycol Natural products OCCO LYCAIKOWRPUZTN-UHFFFAOYSA-N 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000010408 film Substances 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- WGCNASOHLSPBMP-UHFFFAOYSA-N hydroxyacetaldehyde Natural products OCC=O WGCNASOHLSPBMP-UHFFFAOYSA-N 0.000 description 1
- 235000015110 jellies Nutrition 0.000 description 1
- 239000008274 jelly Substances 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 239000002923 metal particle Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 229920003229 poly(methyl methacrylate) Polymers 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 239000004926 polymethyl methacrylate Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 229920002545 silicone oil Polymers 0.000 description 1
- 229920002050 silicone resin Polymers 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000002054 transplantation Methods 0.000 description 1
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of flexible manipulators, guide rail is adjusted including gel finger unit body and positioning, the gel finger unit body includes gel driver, grasping part, grasping part is fixed on the inside of the gel driver, the positioning adjusts guide rail and the top of grasping part is slidably connected, several gel finger unit body end flexibility opening and closing.It is firm, accurate that the present invention grabs object, and grasping article range is wide, easy to spread and application.The present invention can grasp regular metal components, such as thin slice, ring-shaped article.The present invention can also grasp regularly or irregularly delicates, such as the cup of band handle；Regular or irregular flexibility/article, such as push toy.Grasping scale of the invention from bold and unconstrained meter level to meter level, grasping object weight from micron order to meter level, from microgram to kilogram.The present invention makes manipulator reach the anthropomorphic state of height by the grasp mode of finger-type by using gel rubber material, has a wide range of application, and stability is high, is suitable for various occasions.
Description
Technical field
The present invention relates to intellectual materials and intelligence structure field more particularly to a kind of flexible manipulator.
Background technique
PVC gel (poly vinylchloride-ge1, abbreviation PVC) is that there is Large strain to exist for a kind of electroactive polymer
In electric field creeping deformation can be generated to anode.According to this characteristic, PVC gel is suitable for the application of manipulator.
Patent CN201810457179 is disclosed a kind of based on electrically driven (operated) PVC-gel flexible manipulator, including flexible hand
Pawl and PVC-gel driver, one end of flexible gripper are fixed on the drive enclosure of PVC-gel driver, and the other end passes through
Mandril is connect with PVC-gel driver, is provided with spring between mandril and PVC-gel driver, by PVC-gel driver
Applying voltage is subjected to displacement PVC-gel driver and power output in thickness direction, by spring drive flexible gripper open or
Closure.The invention drives flexible gripper using the driving of PVC-gel lamination, and flexible gripper can grab the object of different surfaces shape
Product, and driver can be made to export different displacement and driving force by adjusting applied voltage.The patent is multi-layered type
Driver be placed in the shell of manipulator, be chained up by way of spring with the compliant mechanism of outside, using on driver
Lower reciprocating motion goes to realize the opening and closure of the grip hand of outside.The patent plays a type simply by PVC gel material
Like the effect of spring, there is no the innovations that structure is really carried out to manipulator.The rustic, use is single, can not pick up
The article of all size, and grab not accurate.It is unable to reach the purpose of flexible clamping, clamping mode is single.
Summary of the invention
The purpose of the present invention is in view of the drawbacks of the prior art, provide it is a kind of using PVC gel material and crawl accurately
Manipulator.
In order to achieve the goal above, the invention adopts the following technical scheme:
A kind of flexible manipulator, including gel finger unit body and positioning adjust guide rail, the gel finger unit body packet
It includes gel driver, grasping part, is fixed with grasping part on the inside of the gel driver, the positioning adjusts guide rail and grasping part
Top is slidably connected, several gel finger unit body end flexibility opening and closing.
Further, the gel driver includes gel layer, the gel layer be single or double layer structure, gel layer it
Between be equipped with flexible electrode.
Further, fibrous layer is equipped in the gel layer.Finger unit bending can be adjusted by adjusting fiber layer structure
The shape of deformation, to adapt to by the shape of grasping article.
Further, the front side and rear side are respectively equipped with cathode and anode.
Further, cathode insulation layer is equipped between the cathode and grasping part.
Further, anode insulating layer is equipped on the outside of anode.
Further, the grasping part top is T shape connector, and the positioning adjusts guide rail and is equipped with sliding slot, the grasping
Portion and positioning are adjusted and are connected between guide rail by connector.
Further, the center that the positioning adjusts guide upper is equipped with external linkage mechanism.
Further, the grasping part is laminated structure, and the laminated structure is equipped with multiple grooves.By adjusting groove
Structure adjusts the shape of finger unit bending deformation with distribution, to adapt to by the shape of grasping article.
Further, flexible electrode includes such as conductive polymer material electrode, and (silicone oil mixes conductive silicone grease with carbon particle
Object) electrode, Signa Gel electrode (gel and carbon and conducting metal particles mixture), graphene membrane electrode, metallic particles plating
Layer film electrode etc., the surface shape of electrode can be plane or concavo-convex.
Technical solution of the present invention is used, is consolidated, precisely the invention has the benefit that the present invention grabs object, and grasp article
Range is wide, easy to spread and application.The present invention can grasp regular metal components, such as thin slice, ring-shaped article.The present invention can also grasp
Regularly or irregularly delicates, such as the cup of band handle；Regular or irregular flexibility/article, such as push toy.
Grasping scale of the invention from micron order to meter level, from microgram to kilogram.The present invention is passed through by the grasp mode of finger-type
So that manipulator is reached the anthropomorphic state of height using gel rubber material, have a wide range of application, stability is high, is suitable for various occasions.
Detailed description of the invention
Fig. 1 is PVC gel thin film electric field response theory schematic diagram；
Fig. 2 is that a kind of flexible manipulator two provided by the invention refers to structure chart；
Fig. 3 is that a kind of flexible manipulator two provided by the invention refers to Structure explosion diagram；
Fig. 4 is that a kind of flexible manipulator two provided by the invention refers to structure grasping article schematic diagram；
Fig. 5 is that a kind of flexible manipulator three provided by the invention refers to structure grasping article schematic diagram；
Fig. 6 is a kind of flexible mechanical hand grip section structural schematic diagram provided by the invention.
Wherein, 1, grasping part, 2, positioning adjust guide rail, 3, external linkage mechanism, 4, cathode, 5, cathode insulation layer, 6, solidifying
Glue driver, 7, fibrous layer, 8, anode, 9, anode insulating layer, 10, T shape connector, 11, sliding slot, 12, connector, 13, article,
14, gel finger unit body, 15, groove.
Specific embodiment
Concrete scheme specific embodiment of the present invention is further elaborated in conjunction with attached drawing.
Shown in Fig. 1, PVC gel thin film electric field response theory, gel rubber material wriggles as anode agglomerate in the electric field.
As in Figure 2-4, there are two embodiments for referring to gel finger unit body for manipulator, is illustrated in figure 5 manipulator
The embodiment for referring to gel finger unit body with three, all has with flowering structure.
A kind of flexible manipulator, including gel finger unit body 14 and positioning adjust guide rail 2, the gel finger unit body
14 include gel driver 6, grasping part 1, grasping part 1 is fixed on the inside of the gel driver 6, the positioning adjusts guide rail 2
It is slidably connected with the top of grasping part 1, several 14 end flexibility opening and closing of gel finger unit body.
The center that the positioning adjusts 2 top of guide rail is equipped with external linkage mechanism 3.Wherein two refer to that the positioning of manipulator is adjusted
Guide rail 2 is straight rail, and three to refer to that the position of manipulators adjusts guide rail 2 be Y shape rail, the position of multi-finger manipulator adjust guide rail 2 according to demand into
The adaptable transformation of row.
Fibrous layer 7 is equipped in the gel driver.Gel finger unit body 14 can be adjusted by adjusting 7 structure of fibrous layer
The shape of bending deformation, to adapt to by the shape of grasping article 13.
The front side and rear side are respectively equipped with cathode 4 and anode 8.Cathode insulation is equipped between the cathode 4 and grasping part 1
Layer 5.Anode insulating layer 9 is equipped on the outside of anode 8.
1 top of grasping part is T shape connector 10, and the positioning adjusting guide rail 2 is equipped with to be adapted with T shape connector 10
Sliding slot 11, the grasping part 1 and positioning are adjusted and are connected between guide rail 2 by connector 12.Connector 12 is bolt or spiral shell
Nail, is not limited to the on-link mode (OLM).
As shown in fig. 6, the grasping part 1 is laminated structure.The laminated structure is equipped with multiple grooves 15, and groove 15 can
It is without being limited thereto for structures such as triangle or half slots.Groove 15 generates for grasping part 1 in the different location of vertical direction different
The bending of degree is applicable in different articles to control handgrip shape.
The present invention can also be deacclimatized by the proportion of adjusting PVC/CPVC and plasticizer so as to adjust the rigidity of driver
The workpiece of different materials and hardness.For example driver can be accomplished to be similar to the same pliability of jelly by adjusting proportion,
The thing of de-clamping particularly soft.
Structure of the invention can (such as 50% removal 100% removes voltage (at this time by adjusting the intensity of voltage removal
Generate maximum pressure)) workpiece for being applicable in unlike material and hardness is removed, it can also be arranged by the shape of gel driver and go to be applicable in
Different shape, and suitable shapes etc. can be gone by individually regulating and controlling the driver in Toe Transplantation for Segmental Finger joint.
Multiple regulative mode makes manipulator height personalize, and crawl range is wide, precision is high, and crawl is flexible.
PVC (polyvinyl chloride) or CPVC (chliorinated polyvinyl chloride) material can be used in the gel driver gel layer,
Polymenthyl methacrylate (polymethyl methacrylate), polyurethane (polyurethane), polystyrene
(polystyrene), polyvinyl acetate (polyvinyl acetate), PA6 (nylon 6), PVA (polyvinyl alcohol,
Polyvinyl alcohol), polycarbonate (polycarbonate), polyethylene terephthalate (PET, poly terephthalic acid
Glycol ester), polyacrylonitrile (polyacrylonitrile) can generate electroluminescent change after silicone (silicone resin) isogel
Shape lures electric material.
Plasticizer used in gel rubber material: in addition to DBA (hexanedioic acid di-n-butyl), also increase such as DMA (dimethylacetamide
Amine), DES (diethyl sebacate), DEA (diethanolamine), DOS (dioctyl sebacate), DOA (dioctyl adipate), DMP
(repefral), DBP (dibutyl phthalate), DOP (dioctyl phthalate), DEHP (O-phthalic
Sour two (2- ethyl) own esters etc. other have the plasticizer of similar effect.
The present invention can also be 1:1 to 1 by adjusting the proportion of gel bodies material (such as PVC, CPVC etc.) and plasticizer:
9。
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of flexible manipulator, which is characterized in that adjust guide rail, the gel finger including gel finger unit body and positioning
Cell cube includes gel driver, grasping part, is fixed with grasping part on the inside of the gel driver, the positioning adjust guide rail and
The top of grasping part is slidably connected, several gel finger unit body end flexibility opening and closing.
2. a kind of flexible manipulator according to claim 1, which is characterized in that the gel driver includes gel layer,
The gel layer is single or double layer structure, is equipped with flexible electrode between gel layer.
3. a kind of flexible manipulator according to claim 2, which is characterized in that be equipped with fibrous layer in the gel layer.
4. a kind of flexible manipulator according to claim 1 or 2, which is characterized in that the front side and rear side are respectively equipped with
Cathode and anode.
5. a kind of flexible manipulator according to claim 4, which is characterized in that be equipped with yin between the cathode and grasping part
Pole insulating layer.
6. a kind of flexible manipulator according to claim 4, which is characterized in that be equipped with anode insulating layer on the outside of anode.
7. a kind of flexible manipulator according to claim 1, which is characterized in that the grasping part top is T shape connector,
The positioning adjusts guide rail and is equipped with sliding slot, and the grasping part and positioning are adjusted and connected between guide rail by connector.
8. a kind of flexible manipulator according to claim 1, which is characterized in that the positioning adjusts the center of guide upper
Equipped with external linkage mechanism.
9. a kind of flexible manipulator according to claim 1, which is characterized in that the grasping part is laminated structure, described
Laminated structure is equipped with multiple grooves.
10. a kind of flexible manipulator according to claim 2, which is characterized in that flexible electrode includes conducting polymer material
Expect electrode, conductive silicone grease electrode, Signa Gel electrode, graphene membrane electrode, metallic particles coating membrane electrode, the table of electrode
Face shape can be plane or concavo-convex.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811531629.3A CN109514542A (en) | 2018-12-14 | 2018-12-14 | A kind of flexible manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811531629.3A CN109514542A (en) | 2018-12-14 | 2018-12-14 | A kind of flexible manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109514542A true CN109514542A (en) | 2019-03-26 |
Family
ID=65795856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811531629.3A Pending CN109514542A (en) | 2018-12-14 | 2018-12-14 | A kind of flexible manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109514542A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909996A (en) * | 2019-04-15 | 2019-06-21 | 华侨大学 | A kind of flexible hinge multistage displacement equations structure of stacked composite material |
| CN110434884A (en) * | 2019-07-15 | 2019-11-12 | 浙江工业大学 | Clamping jaw based on gel driver |
| CN113070896A (en) * | 2021-04-13 | 2021-07-06 | 中北大学 | Electric-heating driving type soft gripper simulating gecko toes and preparation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0241685A (en) * | 1988-07-29 | 1990-02-09 | Toyota Central Res & Dev Lab Inc | Mechanochemical actuator |
| JP2009273204A (en) * | 2008-05-02 | 2009-11-19 | Shinshu Univ | Polymer flexible actuator |
| CN108527434A (en) * | 2018-06-19 | 2018-09-14 | 苏州大学 | Capture diameter self-adapting adjustment type software handgrip |
| CN108601538A (en) * | 2015-11-30 | 2018-09-28 | 欧姆龙健康医疗事业株式会社 | Soft clamper and the blood pressure determination cuff for having the soft clamper |
| CN108638049A (en) * | 2018-05-14 | 2018-10-12 | 西安交通大学 | One kind being based on electrically driven (operated) PVC-gel flexible manipulators |
| CN209364623U (en) * | 2018-12-14 | 2019-09-10 | 浙江工业大学 | A kind of flexible manipulator |
-
2018
- 2018-12-14 CN CN201811531629.3A patent/CN109514542A/en active Pending
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|---|---|---|---|---|
| JPH0241685A (en) * | 1988-07-29 | 1990-02-09 | Toyota Central Res & Dev Lab Inc | Mechanochemical actuator |
| JP2009273204A (en) * | 2008-05-02 | 2009-11-19 | Shinshu Univ | Polymer flexible actuator |
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| CN209364623U (en) * | 2018-12-14 | 2019-09-10 | 浙江工业大学 | A kind of flexible manipulator |
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| Title |
|---|
| LINDSEY HINES 等: "soft Actuators for Small-Scale Robotics", 《ADVANCED SCIENCE NEWS》, pages 1 - 43 * |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909996A (en) * | 2019-04-15 | 2019-06-21 | 华侨大学 | A kind of flexible hinge multistage displacement equations structure of stacked composite material |
| CN109909996B (en) * | 2019-04-15 | 2024-02-23 | 华侨大学 | Flexible hinge multistage displacement amplifying structure of laminated composite material |
| CN110434884A (en) * | 2019-07-15 | 2019-11-12 | 浙江工业大学 | Clamping jaw based on gel driver |
| CN113070896A (en) * | 2021-04-13 | 2021-07-06 | 中北大学 | Electric-heating driving type soft gripper simulating gecko toes and preparation method thereof |
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