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A driving method of intelligent material combination for flexible grasping mechanism

A technology of combined driving and intelligent materials, applied in the directions of manipulators, manufacturing tools, chucks, etc., can solve the problems of low driving frequency, low actuation speed, poor stability, etc., and achieve the effect of fast movement speed and large opening and closing range.

Active Publication Date: 2021-10-01
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Flexible grasping mechanism is one of the key research objects in the field of soft robotics. Intelligent material drive is considered to be an important potential driving source for the development of new flexible mechanisms due to its advantages of easy miniaturization and fast response. However, current research is mostly focused on The perception, drive, and response of a single smart material seldom involve the combined drive of multiple smart materials. In view of the differences in the characteristic properties of each smart material, a single smart material often has low driving frequency, poor stability, and actuation Low speed and other disadvantages, and intelligent material combination drive is expected to alleviate or even overcome the shortcomings of a single intelligent material drive, and integrate and play the driving advantages of multiple intelligent materials; there is no one in the prior art that can drive flexible grippers with a combination of multiple intelligent materials. method of arresting agencies

Method used

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  • A driving method of intelligent material combination for flexible grasping mechanism
  • A driving method of intelligent material combination for flexible grasping mechanism
  • A driving method of intelligent material combination for flexible grasping mechanism

Examples

Experimental program
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specific Embodiment approach 1

[0033] Combine below Figures 1 to 8 Describe this embodiment, a smart material combination driving method for a flexible catch mechanism, the method includes the following steps:

[0034] S1: The flexible linear drive 4 stretches to drive the flexible gripper 1 to retract;

[0035] S2: The dielectric elastomer film driving device drives the flexible gripper 1 to be further closed and locked.

[0036] When driven by the flexible linear actuator 4 alone, the flexible gripper 1 opens and closes with a large range and fast movement speed; when driven by the dielectric elastomer film drive device alone, the flexible gripper 1 can fine-tune the end state when it is folded, so that the end is established effectively Connected, can be completely closed; it can be driven by a combination of flexible linear actuator 4 and dielectric elastomer film drive device, combining the advantages of flexible linear actuator 4 drive and dielectric elastomer film drive device, so that the flexible...

specific Embodiment approach 2

[0037] Combine below Figures 1 to 8 Describe this embodiment, this embodiment will further explain Embodiment 1, the flexible gripper 1 includes a flexible gripper long arm 101 and a flexible gripper short arm 102, two flexible grippers extend from the middle of the flexible gripper long arm 101 Hand short arm 102.

specific Embodiment approach 3

[0038] Combine below Figures 1 to 8 This embodiment will be described. This embodiment will further describe the second embodiment. The dielectric elastomer film driving device includes a dielectric elastomer film 2 and a flexible electrode 3, and a layer of The dielectric elastomer film 2 and the flexible electrode 3 are attached to both sides of each layer of dielectric elastomer film 2; and the dielectric elastomer film 2 is adhered to the flexible gripper 1, which will significantly improve the structural damping of the flexible gripper 1, Therefore, the oscillation amplitude and oscillation time of the flexible gripper 1 when the shape memory alloy spring is driven are effectively reduced, and the structure quickly enters a stable state, and the grasping is completed smoothly. The dielectric elastomer film 2 is a transparent superelastic film with adhesive on both sides, which is attached to both sides of the flexible gripper long arm 101 including the flexible gripper h...

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Abstract

The present invention relates to a driving method of a capture mechanism, more specifically, a method for driving a combination of intelligent materials for a flexible capture mechanism, comprising the following steps: S1: the flexible linear driver stretches and drives the flexible gripper to fold; S2: the dielectric The elastic body film driving device drives the flexible gripper to further close; when the flexible linear actuator is used alone, the flexible gripper opens and closes with a large range and the movement speed is fast; when the dielectric elastomer film driving device is used alone, the flexible gripper retracts The state of the end can be fine-tuned so that the end can be effectively connected and fully closed; it can be driven by a combination of a flexible linear actuator and a dielectric elastomer film drive, combining the advantages of a flexible linear drive and a dielectric elastomer film drive, making the The flexible gripper has a large opening and closing range, the end of the flexible gripper can be completely closed, and the overall movement speed is relatively fast.

Description

technical field [0001] The invention relates to a driving method for a catch mechanism, more specifically a driving method for combining intelligent materials for a flexible catch mechanism. Background technique [0002] Because of its multi-degree-of-freedom, high flexibility, and good environmental adaptability, soft robots have shown broad application prospects in industrial production, medical treatment, detection, search and rescue, and other fields. Flexible grasping mechanism is one of the key research objects in the field of soft robotics. Intelligent material drive is considered to be an important potential driving source for the development of new flexible mechanisms due to its advantages of easy miniaturization and fast response. However, current research is mostly focused on The perception, drive, and response of a single smart material seldom involve the combined drive of multiple smart materials. In view of the differences in the characteristic properties of ea...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/12
CPCB25J15/12
Inventor 周德开张永昌权家乐李朋春常晓丛黄金财
Owner HARBIN INST OF TECH
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