Preparation method of conductive thermoplastic starch polymer and polymer-based humanoid soft finger with folding paper structure

A thermoplastic starch and polymer technology, applied in the field of human-like soft fingers, can solve problems such as joint reduction, joint stiffness cannot be bent, and response time is long, and achieves the effect of increasing the contact area, shortening the response time, and improving flexibility.

Active Publication Date: 2019-12-06
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, existing humanoid soft fingers that use thermal phase change materials (such as conductive polylactic acid, shape memory polymers, etc.) The speed is slow, which reduces the flexibility of finger movement; the existing humanoid soft finger joints can not balance the compliant bending and joint stiffness. To achieve compliant bending of the joints, the stiffness of the joints can only be reduced or the joints cannot be bent when the stiffness is high.

Method used

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  • Preparation method of conductive thermoplastic starch polymer and polymer-based humanoid soft finger with folding paper structure
  • Preparation method of conductive thermoplastic starch polymer and polymer-based humanoid soft finger with folding paper structure
  • Preparation method of conductive thermoplastic starch polymer and polymer-based humanoid soft finger with folding paper structure

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specific Embodiment approach 1

[0039] Specific implementation mode one: combine figure 1 and figure 2 To illustrate this embodiment, a method for preparing a conductive thermoplastic starch polymer in this embodiment comprises the following steps:

[0040] mixing thermoplastic starch polymer particles and multi-wall carbon nanotubes in a certain proportion, wherein the mass fraction of multi-wall carbon nanotubes is 5%-20%, and placing thermoplastic starch polymer particles and multi-wall carbon nanotubes in a vessel During the heating process, continuous centrifugal stirring is carried out, and the thermoplastic starch polymer changes from a glassy state to a viscous fluid state, and finally fully fuses with the multi-walled carbon nanotubes, and finally the conductive thermoplastic starch polymer is compacted.

[0041] Such as figure 1 As shown, the glass transition temperature of the conductive thermoplastic starch polymer is about 60°C, and the elastic modulus can change from 268MPa at 25°C to 7.4MPa a...

specific Embodiment approach 2

[0043] Specific implementation mode two: combination image 3 and Figure 4 To illustrate this embodiment, a humanoid soft finger with an origami structure based on conductive thermoplastic starch polymers in this embodiment includes finger roots 1, metacarpophalangeal joints 2, proximal phalanx 3, interphalangeal joint 4, and middle phalanx 5 , fingertip joint 6, distal phalanx 7, strain constrained layer 11, variable stiffness layer, cooling layer 14, contact layer 15 and Yoshimura pattern origami 9;

[0044] Root of finger 1, proximal phalanx 3, middle phalanx 5, and distal phalanx 7 are connected by metacarpophalangeal joint 2, interphalangeal joint 4, and fingertip joint 6 in sequence. Metacarpophalangeal joint 2, proximal phalanx 3. The interphalangeal joint 4, the middle phalanx 5, the fingertip joint 6 and the distal phalanx 7 are all provided with hollow cavities, and the hollow cavities of the metacarpophalangeal joint 2 and the proximal phalanx 3 communicate with e...

specific Embodiment approach 3

[0051] Specific implementation mode three: combination Figure 5-Figure 8 To illustrate this embodiment, a humanoid soft finger with an origami structure based on conductive thermoplastic starch polymers in this embodiment includes finger roots 1, metacarpophalangeal joints 2, proximal phalanx 3, interphalangeal joint 4, and middle phalanx 5 , fingertip joint 6, distal phalanx 7, strain constrained layer 11, variable stiffness layer, cooling layer 14, contact layer 15 and Yoshimura pattern origami 9;

[0052] Root of finger 1, proximal phalanx 3, middle phalanx 5, and distal phalanx 7 are connected by metacarpophalangeal joint 2, interphalangeal joint 4, and fingertip joint 6 in sequence. Metacarpophalangeal joint 2, proximal phalanx 3. The interphalangeal joint 4, the middle phalanx 5, the fingertip joint 6 and the distal phalanx 7 are all provided with hollow cavities, and the hollow cavities of the metacarpophalangeal joint 2 and the proximal phalanx 3 communicate with each...

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Abstract

The invention relates to a preparation method of a conductive thermoplastic starch polymer and a polymer-based humanoid soft finger with a folding paper structure, belongs to the technical field of humanoid fingers, and aims to solve the problems that in an existing humanoid soft finger with the variable rigidity realized by utilizing a thermal phase change material, the variable rigidity responsespeed is low due to long response time of conversion from a glass state to a high-elasticity state, and the joint motion flexibility and the rigidity of the humanoid soft finger cannot be realized atthe same time. The polymer-based humanoid soft finger comprises a finger root, a metacarpophalangeal joint, a proximal phalanx, an interphalangeal joint, a middle phalanx, a finger tip joint, a distal phalanx, a strain restraint layer, a variable rigidity layer, a cooling layer and a contact layer, wherein each joint is provided with a U-shaped groove, and the outer side of each joint is wrappedwith Yoshimura line type folding paper; and three self-made conductive thermoplastic starch polymer plates are arranged at the bottom of the finger. The humanoid soft finger not only can realize rapidand active control of the rigidity of the phalanxes, but also can realize synchronous and passive adjustment of joint flexible motion and joint rigidity, and has the advantages of fast variable rigidity, high adaptability and flexibility in motion.

Description

technical field [0001] The invention relates to a humanoid soft finger, in particular to a preparation method of a conductive thermoplastic starch polymer and a humanoid soft finger with an origami structure based on the polymer. Background technique [0002] Human fingers have biological characteristics such as mixed rigidity and softness, underactuation, active and passive control of stiffness, and have the functions of flexible movement and reliable grasping. It has always been one of the hot research directions in the field of bionic robots. The characteristics of high flexibility and good interactivity make humanoid soft fingers show greater advantages in unstructured environments compared with humanoid rigid fingers. However, existing humanoid soft fingers that use thermal phase change materials (such as conductive polylactic acid, shape memory polymers, etc.) The speed is slow, which reduces the flexibility of finger movement; the existing humanoid soft finger joints...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): C08L3/02C08K3/04B25J15/00
CPCB25J15/0009B25J15/0023C08K2201/001C08K3/041C08L3/02
Inventor 闫继宏许志东杨凯石培沛
Owner HARBIN INST OF TECH
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