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Seastar-like soft robot driven by shape memory polymer and its control method

A technology of memory polymers and robots, which can be used in transportation and packaging, ships, and underwater operating equipment. The effect of impact power

Active Publication Date: 2020-06-09
JIANGSU UNIV
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0003] Traditional bionic robots are generally composed of rigid modules connected with less degrees of freedom. Although they can meet the needs of precise movement, their rigid structure leads to poor environmental adaptability, and movement in complex environments or narrow spaces will be restricted. In some special occasions not applicable

Method used

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  • Seastar-like soft robot driven by shape memory polymer and its control method
  • Seastar-like soft robot driven by shape memory polymer and its control method
  • Seastar-like soft robot driven by shape memory polymer and its control method

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Embodiment Construction

[0022] In order to fully understand the purpose, features and effects of the present invention, the present invention will be described in detail through the following specific implementation modes.

[0023] Such as figure 1 , 2 , 3, 4, 5, 6 and 7, a shape-memory polymer-driven soft crawling robot of the present invention mainly includes a lower side silicone coat 1, a shape-memory polymer module 2, a heating wire 5, and a carbon nanotube wire 3 , the control terminal 4 and the upper side silicone jacket 6. Wherein the control end 4 is fixed at the reserved control end groove in the middle of the lower side silicone jacket 1; the shape memory polymer module 2 is made of the upper side shape memory polymer 7 and the lower side shape memory polymer 9 with a heat insulating interlayer 8, the upper side shape memory polymer 7, the lower side shape memory polymer 9 are closely attached to the heat insulation interlayer 8; the heating wire 5 is evenly embedded in the heat insulati...

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Abstract

The invention relates to the driving field of soft robots, in particular to a starfish-simulating soft robot driven by a shape memory polymer and a control method. According to the robot, the shape memory polymer is taken as an actuator and a carbon nanotube is buried in a flexible silica gel as a wire to connect the actuator to a control terminal. A flexible silica gel outer sleeve is embedded onto the outer side of the robot, so that the soft robot achieves starfish-simulating movement in water.

Description

technical field [0001] The invention relates to the driving field of soft robots, in particular to a starfish imitation soft robot driven by a shape memory polymer as an actuator and a control method. Background technique [0002] Soft robots are mainly made of soft and elastic polymers, which theoretically have infinite degrees of freedom and the ability to continuously deform, so that soft robots can obtain infinite robot shapes, so that they can reach every point of complex spatial structures . Compared with traditional rigid robots, soft robots can conform to obstacles through their own deformation, and apply soft payloads without causing damage. It will have broad application prospects in many high-tech fields such as medical testing, emergency rescue and disaster relief, and spy investigation. [0003] Traditional bionic robots are generally composed of rigid modules connected with less degrees of freedom. Although they can meet the needs of precise movement, their r...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/52
CPCB63C11/52
Inventor 张忠强张福建丁建宁王晓东程广贵徐琳
Owner JIANGSU UNIV
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