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Micro flexible robot hand using electro-conjugate fluid

机译:使用电共轭流体的微型柔性机器人手

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An electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a flow (ECF flow) when subjected to high DC voltage. Since it only requires a tiny electrode pair in micrometer size in order to generate the ECF flow, the ECF is a promising micro fluid pressure source. This study proposes a novel micro robot hand using the ECF. The robot hand is mainly composed of five flexible fingers and an ECF flow generator. The flexible finger is made of silicone rubber having several chambers in series along its axis. When the chambers are depressurized, the chambers deflate resulting in making the actuator bend. On the other hand, the ECF flow generator has a needle-ring electrode pair inside. When putting the ECF flow generator into the ECF and applying voltage of 6.0 kV to the electrode pair, we can obtain the pressure of 33.1 kPa. Using the components mentioned above, we developed the ECF robot hand. The height, the width and the mass of the robot hand are 45 mm, 40 mm and 5.2 g, respectively. Since the actuator is flexible, the robot hand can grasp various objects with various shapes without complex controller.
机译:电共轭流体(ECF)是一种功能流体,当经受高DC电压时会产生流动(ECF流动)。由于仅需要一个微米级的微小电极对即可产生ECF流量,因此ECF是一种很有前途的微流体压力源。这项研究提出了一种使用ECF的新型微型机器人手。机械手主要由五个柔性手指和一个ECF流量生成器组成。柔性指由硅橡胶制成,沿其轴线具有多个串联的腔室。当腔室减压时,腔室缩小,导致致动器弯曲。另一方面,ECF流量发生器的内部有一个针环电极对。将ECF流量发生器放入ECF中并向电极对施加6.0 kV的电压时,我们可以获得33.1 kPa的压力。使用上述组件,我们开发了ECF机械手。机械手的高度,宽度和质量分别为45毫米,40毫米和5.2克。由于执行器是柔性的,因此机械手无需复杂的控制器即可抓握各种形状的物体。

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