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Microrobotic tentacles with spiral bending capability based on shape-engineered elastomeric microtubes and methods of manufacturing same
Microrobotic tentacles with spiral bending capability based on shape-engineered elastomeric microtubes and methods of manufacturing same
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机译:基于形状工程的弹性体微管和制造方法,微毒细胞间具有螺旋弯曲能力
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摘要
Elastomer-based soft-robotic micro-tentacles capable of winding around and holding microscale objects and methods of fabricating same are provided. To realize the thin, highly deformable microtubes, a fabrication technique based on in situ thermal solidification of PDMS dip-coated around a cylindrical template and direct peeling of the cured structure is presented. This process is capable to asymmetrize the microtube's cross-sectional shape and enable the microtube to bend up to a single turn. To amplify the bending into a life-like, multi-turn spiraling motion, a semi-analytical model to shape-engineer the microtube and turn it into a micro-tentacle was produced. As a result, a hump is added to the microtube to enable the multi-turn spiraling motion.
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