PVC gel driven flexible mechanical tongs and preparing method thereof

A mechanical gripper and flexible technology, applied in the field of manipulators, can solve the problems of poor portability, slow response, poor medium and high frequency characteristics, etc., and achieve the effect of simple driving form and stable work.

Active Publication Date: 2020-05-08
XI AN JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] Among these driving forms, the magnetic drive needs to design complex magnetic field and magnetic force changes in advance; the fluid or pneumatic drive type needs to use pumps and compressors to generate compressed fluid, which is poor in portability, and its response time is slow, with medium and high

Method used

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  • PVC gel driven flexible mechanical tongs and preparing method thereof
  • PVC gel driven flexible mechanical tongs and preparing method thereof
  • PVC gel driven flexible mechanical tongs and preparing method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0066] Please combine image 3 and Figure 4 , first make PVC gel film 2, take PVC granule and plasticizer dibutyl adipate (DBA) and mix with the ratio of mass ratio 1:2, add organic solvent tetrahydrofuran after mixing and dilute, the mixture quality and tetrahydrofuran The mass ratio is 1:3, and it is configured into a polymer solution, and a 100 μm thick PVC gel film 2 is prepared through a film casting process;

[0067] The anode mesh electrode 1 uses poly 60-mesh stainless steel metal mesh, and the cathode plane electrode 3 uses copper foil with a thickness of 0.02mm;

[0068] Taking the PVC gel film 2 as the core layer, laminating the anode mesh electrode 1, the PVC gel film 2 and the cathode plane electrode 3 in a sandwich structure to obtain a single-layer PVC driver 4;

[0069] The single-layer PVC driver 4 is stacked to obtain a five-layer PVC driver 5 .

[0070] A three-dimensional grid structure of a carbon nanotube and silicone rubber mixture was printed using ...

Embodiment 2

[0073] First make PVC gel film 2, take by weighing PVC granule and plasticizer dibutyl adipate (DBA) and mix with the ratio of mass ratio 1:8, add organic solvent tetrahydrofuran after mixing and dilute, the mixture quality and tetrahydrofuran The mass ratio is 1:12, configured as a polymer solution, and a 300 μm thick PVC gel film 2 is prepared through a casting process;

[0074] The anode mesh electrode 1 uses poly 80-mesh stainless steel metal mesh, and the cathode plane electrode 3 uses copper foil with a thickness of 0.08mm;

[0075] Using the PVC gel film 2 as the core layer, the anode mesh electrode 1, the PVC gel film 2 and the cathode flat electrode 3 are stacked in a sandwich structure to obtain a single-layer PVC driver 4;

[0076] The single-layer PVC drivers 4 are stacked to obtain 50-layer PVC drivers 5 .

[0077] A three-dimensional grid structure of a carbon nanotube and silicone rubber mixture was printed using 3D direct-writing printing technology as a flexi...

Embodiment 3

[0082] First make PVC gel film 2, take by weighing PVC particle and plasticizer dibutyl adipate (DBA) mix with the ratio of mass ratio 1:12, add organic solvent tetrahydrofuran after mixing and dilute, the mixture quality and tetrahydrofuran The mass ratio is 1:8, configured as a polymer solution, and a 500 μm thick PVC gel film 2 is prepared through a casting process;

[0083] The anode mesh electrode 1 uses poly 70-mesh stainless steel metal mesh, and the cathode plane electrode 3 uses copper foil with a thickness of 0.06mm;

[0084] Using the PVC gel film 2 as the core layer, the anode mesh electrode 1, the PVC gel film 2 and the cathode flat electrode 3 are stacked in a sandwich structure to obtain a single-layer PVC driver 4;

[0085] The single-layer PVC driver 4 is stacked to obtain a 35-layer PVC driver 5 .

[0086] A three-dimensional grid structure of a carbon nanotube and silicone rubber mixture was printed using 3D direct-writing printing technology as a flexible ...

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Abstract

The invention discloses PVC gel driven flexible mechanical tongs and a preparing method thereof. A multi-layer PVC driver is arranged in a flexible outer frame. A flexible sensor is arranged on the top of the flexible outer frame. The multi-layer PVC driver is formed by stacking a plurality of single-layer PVC drivers, and object grabbing is achieved through the layer number of the single-layer PVC drivers and voltage applying. The PVC gel driven flexible mechanical tongs have the grabbing function and the sensing function at the same time, and on the basis of PVC gel driving, the drive form is simple.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a flexible manipulator driven by PVC gel and a preparation method thereof. Background technique [0002] According to different driving mechanisms, the main driving types of soft robots are as follows: electric drive, magnetic drive, chemical drive, thermal drive, light drive and air drive. [0003] (1) Magnetic drive: Control the movement and deformation of small structures through complex magnetic field design and magnetic force changes. [0004] (2) Thermal drive: Shape memory alloys, shape memory polymers, or materials driven by thermal expansion are used to manufacture network structures, and temperature changes are generated by heating to regulate the phase state or expansion force of materials to achieve the effect of driving deformation. [0005] (3) Wire drive: control the bending motion of the soft mechanical mechanism through the stretching of the wir...

Claims

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Application Information

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IPC IPC(8): B25J9/00B29C39/00B29C64/10B33Y10/00
CPCB25J9/00B29C39/00B29C64/10B33Y10/00B25J9/0009B25J9/0015
Inventor 朱子才徐雪杰罗斌
Owner XI AN JIAOTONG UNIV
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