CN103904933A - Bistable state actuator - Google Patents
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- CN103904933A CN103904933A CN201310485580.3A CN201310485580A CN103904933A CN 103904933 A CN103904933 A CN 103904933A CN 201310485580 A CN201310485580 A CN 201310485580A CN 103904933 A CN103904933 A CN 103904933A
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Abstract
The invention provides a bistable state actuator which comprises a support, a prestretching mechanism, an actuating mechanism and a driving mechanism. The prestretching mechanism is provided with stretching arms which are distributed on the two sides of the support. The driving mechanism comprises two intelligent soft material thin films, the inner ends of the two thin films are attached to a rigid piece respectively, the outer ends of the two thin films are fixedly connected to clamps which are connected with the stretching arms respectively, and the actuating mechanism is driven through contracting and stretching of the intelligent soft material thin films. The actuating mechanism comprises a bistable state beam and the rigid piece, and the bistable state beam is placed at the center of the actuating mechanism and vertically penetrates through the middle of the rigid piece. The intelligent soft material thin films are attached to the rigid piece, and the two ends of the bistable state beam are connected with the support. The actuator is switched between two stable states through position state switching of the bistable state beam, the bistable state beam only provides energy when the position states are switched, and it is kept that energy is of no need in the stable position states. The bistable state actuator achieves bistable state driving by the aid of intelligent sift material thin film materials and the bistable state structure, and not only is the advantage of a common actuator achieved, but also the advantages of miniaturization, power saving and quick response are achieved.
Description
Technical field
The present invention relates to actuator, be specifically related to a kind of bistable actuator that utilizes the eigenstrain of intelligent soft material to drive.
Background technology
Microdrive is the important composition parts of dynamo-electric bistable state driver, and wherein the microdrive based on drive principle such as electricity, thermal and magnetic and light is the emphasis of research.But the dimensional effect that the required voltage of traditional electromagnetic driver can very low its operating characteristic is obvious, complex structure, power consumption is high and efficiency is not high.Bistable state (bi-stable) is although design can be alleviated the heat radiation difficulty that inoculation heating causes, and this device still exists the problem that effect is low.Thermomechanical (electric heating) drives can have lower driving voltage, higher output torque and higher unit volume energy in small size.But thermomechanical drives and exists power consumption high, the shortcoming of low-response.And permanent magnetic bistable electrothermal driver has been introduced bistable structure on the basis of traditional thermomechanical driver and then improve the defect that heat drives, but still there is the shortcoming of complex structure and inefficiency.In addition, traditional intelligent soft material driver need to keep incentive action to maintain driving condition, and this has just caused the low of energy utilization rate, does not possess energy-conservation effect.
Summary of the invention
For the deficiencies in the prior art, technical problem to be solved by this invention is to provide a kind of bistable actuator that utilizes the eigenstrain of intelligent soft material to drive, bistable actuator of the present invention only need to provide energy in the time that state switches, while keeping stable state, do not need energy, have advantages of and significantly reduce energy consumption.
The technical solution used in the present invention is as follows:
A kind of bistable actuator, is characterized in that: described bistable actuator comprises support, pre-stretching mechanism, actuating mechanism and driving mechanism, wherein:
Described pre-stretching mechanism is for regulating the pre-stretching of driving mechanism, and pre-stretching makes driving mechanism be more prone to be driven;
Described driving mechanism utilizes the eigenstrain of intelligent soft material to produce actuating force, described intelligent soft material refers at extrinsic motivated (not comprising the field of force), for example, under the effect of electric field, magnetic field, thermal field, light field, electromagnetic field, pyromagnetic field, the relatively remarkable and macroscopic special material of free deformation producing, it is a kind of flexible material, mechanical characteristic is partially soft, and rigidity and modulus are very little, and its free deformation can recover; Described eigenstrain refers to that material is at extrinsic motivated, the deformation for example producing under the effect of electric field, magnetic field, thermal field, light field, electromagnetic field, pyromagnetic field, this deformation does not need to rely on extraneous power load, also be that this deformation is that material itself produces, the phenomenon of for example expanding with heat and contract with cold, the actuating force that this deformation produces can make bistable actuator generation state switch.
For intelligent soft material, described pre-stretching refers to first this type of material is stretched to certain state in advance, is then fixed on stretching arm for keeping extended state.Driving mechanism after pre-stretching can be very easy to drive, because a part for driving mechanism is under extrinsic motivated effect, the pre-stretching of this part can be relaxed, thereby can not driven in the part of extrinsic motivated.
Described actuating mechanism is used for making described actuator mutually to switch between two stable states, and described actuating mechanism only need to provide energy in the time that state switches, and is used for intelligent soft material to apply excitation, and does not need energy in the time keeping stable state.
The type of drive of traditional bistable actuator often needs to introduce electromagnet, and the mechanical structure of the complexity such as motor is switched to realize the stable state of bistable state driver.These devices often have two shortcomings.First, its capacity usage ratio is not high, in maintaining stable state, need to continue energy supply, comparatively power consumption; Secondly, above-mentioned mechanical structure makes the structure of whole bistable state driver more complicated.
Because intelligent soft material has the shortcoming that the speed of response causing because of viscoplasticity is slow and actuating force is little, if separately intelligent soft material is used for to driver, need to keep incentive action to maintain driving condition, this has just caused the low of energy utilization rate, does not possess energy-conservation effect; And bistable structure time in stable state jump process of the present invention's design is very short, the power producing is larger, and can assist intelligent soft material film to drive, driving mechanism using intelligent soft material as bistable actuator of the present invention, the combination of intelligence soft material and bistable structure has made up the shortcoming of intelligent soft material just, significantly having promoted is response speed and the actuating force of intelligent soft material film, and has greatly simplified the structure of bistable actuator.
The present invention is directed to the shortcoming of intelligent soft material, a kind of bistable actuator based on intelligent soft material of brand new is creatively proposed, greatly simplify the structure of bistable actuator, it only need to provide energy in the time that state switches, and do not need energy in the time keeping stable state, the energy consumption of whole bistable actuator is significantly reduced.
Further, the size range of described bistable actuator can be 0.1mm～1m, and as preferably, the size range of described bistable actuator is 1mm～10cm.
Further, described driving mechanism is intelligent soft material film, described actuating mechanism drives by contraction and the diastole of intelligent soft material film, described intelligent soft material film is at extrinsic motivated (not comprising the field of force), for example under the effect of electric field, magnetic field, thermal field, light field, electromagnetic field, pyromagnetic field, can in the plane of film, expand, thickness attenuation.
Further, the material of described intelligent soft material film is selected from photo-induced telescopic elastomer, dielectric elastomer, magnetostriction elastomer.
Further, driving mechanism of the present invention is spring structure.
Further, the pre-stretching mechanism of bistable actuator of the present invention is stretching arm, and stretching arm is distributed in support both sides, in stretching arm, can be provided with adjusting bolt, can change the position of stretching arm by rotation adjusting bolt, thereby change the pre-stretching of intelligent soft material film.
Further, the stretching arm of bistable actuator of the present invention is provided with fixture, and fixture is provided with fishbolt, and fishbolt and fixture are threaded connection, and by the switching of rotation fishbolt adjustable clamp, facilitates the replacing of intelligent soft material film.
The adjustable range of the stretching arm of bistable actuator of the present invention can be set according to the actual conditions of driver, and its scope depends on the length of adjusting bolt.
Further, the bistable state beam of bistable actuator of the present invention is two hinged beams, realizes the change of bistable state beam location status by beam middle part is applied to pulling force.The two ends of two hinged beams are fixed on support, and because the distance of two fixing points is shorter than the original length of beam, Gu Liang is subject to the pressure of support in the axial direction, enters flexion.The pulling force that intelligence soft material applies rigid disk is transferred to the centre position of beam, due to the difference of intelligent soft material material category, they are also different to the pulling force of beam, therefore should carry out choose reasonable according to the kind of intelligent soft material material to beam deflection rigidity, two hinged beams and intelligent soft material are answered Proper Match.
Further, the actuating mechanism of bistable actuator of the present invention comprises bistable state beam and rigid disk, described bistable state beam is connected with rigid disk, described driving mechanism and rigid disk are bonding, the two ends of described bistable state beam are connected with support, described bistable state beam is realized described actuator by the switching of location status and is mutually switched between two stable states, described bistable state beam only need to provide energy in the time that location status switches, while keeping settling position state, do not need energy, the location status of described bistable state beam changes by contraction and the diastole of intelligent soft material film.
Further, described intelligent soft material film lays respectively at rigid disk both sides, and the inner and the rigid disk of intelligent soft material film are bonding, and outer end is fixed on the fixture that is connecting stretching arm.
Further, the rigid disk of bistable actuator of the present invention is mutually vertical with bistable state beam in position, and bistable state beam passes rigid disk, and makes the contact wire of rigid disk and bistable state beam be positioned at the position, middle of beam.The two ends of rigid disk are bonding with two intelligent soft material films respectively, directly bear the pulling force that intelligent soft material film produces because of deformation, and pulling force is passed to bistable state beam, the location status of bistable state beam changes by contraction and the diastole of two intelligent soft material films.
Further, two intelligent soft material films of bistable actuator of the present invention lay respectively at rigid disk both sides and (in following summary of the invention explanation, intelligent soft material film 51 are labeled as to A, intelligence soft material film 52 is labeled as B), the inner and the rigid disk of two intelligent soft material films are bonding, outer end is fixed on the fixture that is connecting stretching arm, intelligence soft material film has certain pretightning force, and the size of pretightning force can regulate by stretching arm.Can make intelligent soft material film A that eigenstrain occurs by extrinsic motivated (not comprising the field of force), thereby discharge the pretightning force of intelligent soft material film A, but intelligent soft material film B is owing to not being subject to extrinsic motivated, still in Pre strained state, so the pulling force of intelligent soft material film B can be greater than intelligent soft material film A, they change for the flexing direction that can make with joint efforts bistable state beam of bistable state beam.
Further, the energisation mode of bistable actuator of the present invention can have various ways, can be selected from luminous energy, heat energy, electric energy, magnetic energy any one or multiple arbitrarily, choose dissimilar intelligent soft material thin-film material according to the difference of energisation mode.
Below using high pressure generator as energisation mode, actuating mechanism is bistable state beam and rigid disk, intelligence soft material is that dielectric elastomer (DE) is example, sets forth driving mechanism of the present invention and utilizes the eigenstrain of intelligent soft material to produce the principle of actuating force, and schematic diagram is referring to Fig. 4.
(a) figure of Fig. 4 represents the side view of the intelligent soft material film that there is no pre-stretching; Intelligence soft material film is divided into two, and its length is respectively
,
;
(b) figure of Fig. 4 represents to have the intelligent soft material film A of certain pre-stretching, the side view of B, and its length is respectively: λ
1p , λ
1p 
;
(c) figure of Fig. 4 is the coupled structure of bistable state beam and intelligent soft material film, under stable state, the pulling force that intelligence soft material film A produces is less than intelligent soft material film B's, make a concerted effort (direction of intelligent soft material film B) to the right that such two intelligent soft material films produce, but because the stable state of bistable state beam is jumped and is needed a certain size power (threshold values), and now two intelligent soft material membrane actions do not reach with joint efforts this threshold values (even critical value that bistable state beam jumps) on beam, so whole bistable state driver is still in this stable state,
(d) figure of Fig. 4 represents the stateful switchover process of bistable state driver, when intelligent soft material film A is under certain extrinsic motivated, will produce eigenstrain, can planar expand, that is to say, intelligence soft material film A has discharged stress, meanwhile intelligent soft material film B is owing to not being subject to extrinsic motivated, still in original stress state, so two intelligent soft material membrane actions can become with joint efforts large on beam, this makes a concerted effort and excitation size is directly proportional, in the time that excitation reaches certain value, this has made a concerted effort to exceed the bistable state beam required threshold values that jumps, so whole bistable state driver is switched to another stable state (as shown in figure dotted line) from a stable state.
Because bistable state driver of the present invention is symmetrical on geometry, so still can same method be switched to original stable state after bistable state driver is switched to the stable state shown in dotted line, now need to add identical excitation at intelligent soft material film B, and intelligent soft material film A is not in there is no the state of extrinsic motivated.
In this process, in only switching, need to add extrinsic motivated (for example electric field, magnetic field, thermal field, light field, electromagnetic field, pyromagnetic field) between two stable states, between two stable states, finishing switching can remove extrinsic motivated, and whole bistable state driver can remain on and switch later state.So just reach the object of energy savings.
The design theory of bistable actuator of the present invention is as follows:
According to soft material mechanics correlation theory, we can obtain being carried in original depth and are
hintelligent soft material film A, the voltage on B is respectively
,
, the stress producing at driving direction is respectively
,
, the length of deformation of thin membrane rear drive direction is respectively λ
1p 
, λ
1p 
, its equation closes and is:
Wherein
εthe dielectric coefficient of film,
j limthe constant relevant with pre-stretching,
μmodulus of shearing,
λ 1A , λ 1B be respectively film A, the length variations coefficient of B driving direction,
λ 2A , λ 2B represent respectively film A, B, perpendicular to the length variations coefficient of driving direction, has in (2) formula
λ 1A =λ 1B =λ 1p , λ 2A =λ 2B =λ 2p .
For bistable state beam, in the condition of poised state be:
According to the correlation theory of bistable state beam, we obtain the relation of bistable state beam centre-point load and displacement, wherein,
αwith
βrepresent two nondimensional constants,
drepresent the displacement of beam mid point.
Like this we can to obtain the relation of voltage and the displacement of bistable state beam as follows:
Wherein,
Fig. 5 has shown experiment and the theoretical correlation curve of bistable actuator applied voltage and beam neutral displacement, and abscissa represents beam neutral displacement, and ordinate positive axis represents the voltage applying on film A
, the negative axle of ordinate represents the voltage applying on film B
, notional result is obtained by formula (5), and the del in figure represents the data that record in experiment, and curve represents the calculated results.
As seen from Figure 5, experimental result and the calculated results have part to coincide, and misfit at another part, its reason be bistable state beam before jump in poised state, therefore can calculate according to foregoing theoretical method, thus this section of curves.And bistable state beam is nonequilibrium condition in jump process, therefore can not calculates according to foregoing theoretical method, thereby cause this part of theory curve and empirical curve to be misfitted.That is to say, the burble point of the curve that theoretical curve and experimental data are linked to be is the critical point that this bistable state beam jumps, and is the state switching point of bistable actuator of the present invention, and therefore design theory of the present invention and actual matching have been described.The stable state actuator of the present invention's design produces a desired effect.
The invention has the beneficial effects as follows:
1. the present invention is directed to the shortcoming of intelligent soft material, a kind of bistable actuator based on intelligent soft material of brand new is creatively proposed, greatly simplify the structure of bistable actuator, it only need to provide energy in the time that state switches, and do not need energy in the time keeping stable state, the energy consumption of whole bistable actuator is significantly reduced;
2. because bistable actuator structure of the present invention is very simple, therefore can miniaturization;
3. because the state of intelligent soft material film can keep the continued power not in the situation that, therefore can power saving;
4. intelligent soft material has viscoplasticity, its response speed and actuating force deficiency, and existing bistable structure needs huge and complicated driver (as motor), the bistable state driver that the present invention is based on intelligent soft material utilizes the jump performance of bistable structure can promote response speed and the actuating force of intelligent soft material, greatly simplify again activation configuration, reduce its volume, made bistable actuator can realize miniaturization, power saving and response fast.
Brief description of the drawings
Fig. 1 is the graphics of bistable actuator of the present invention;
Shown in figure: 1: support; 2: stretching arm; 3: bistable state beam; 4: rigid disk; 51,52: intelligent soft material film; 6: fixture;
Fig. 2 is the front view of bistable actuator of the present invention;
Fig. 3 is the vertical view of bistable actuator of the present invention;
Fig. 4 is the schematic diagram of driving mechanism of the present invention;
Fig. 5 is experiment and the identical figure of theoretical curve of bistable actuator applied voltage of the present invention and beam neutral displacement.
Embodiment
Following examples are only not used in and limit the scope of the invention for the present invention is described.In addition should be understood that those skilled in the art can make various changes or modifications the present invention after having read the content of the present invention's instruction, these equivalent form of values fall within the application's appended claims limited range equally.
The invention provides a kind of bistable actuator, by support 1 and pre-stretching mechanism, actuating mechanism and driving mechanism composition, it is characterized in that described pre-stretching mechanism comprises stretching arm 2, described actuating mechanism comprises bistable state beam 3 and rigid disk 4, described driving mechanism is intelligent soft material film 51,52, described stretching arm 2 can regulate intelligent soft material film pretightning force, described bistable state beam 3 can mutually switch between two stable states, described intelligent soft material film 51,52 can produce actuating force.
Wherein,
Described stretching arm 2 is provided with fixture 6;
Described fixture 6 is provided with fishbolt;
Described fixture 6 clamps intelligent soft material film 51,52 one end;
Described intelligent soft material film 51,52 is bonding with rigid disk 4;
Described bistable state beam 3 is vertical through rigid disk 4;
The two ends of described bistable state beam 3 are connected with support 1.
The stretching arm 2 of bistable actuator of the present invention is distributed in support both sides, in stretching arm 2, is provided with adjusting bolt, can change the position of stretching arm 2 by rotation adjusting bolt, thereby change the pre-stretching of intelligent soft material film 51,52.
Further, the bistable state beam 3 of bistable actuator of the present invention is two hinged beams, the two ends of beam are fixed on support 1, because the distance of two fixing points is shorter than the original length of beam, Gu Liang is subject to the pressure of support 1 in the axial direction, enter flexion, the pulling force that 51,52 pairs of rigid disks 4 of intelligent soft material film apply is transferred to the centre position of beam.
The rigid disk 4 of bistable actuator of the present invention is mutually vertical with bistable state beam 3 in position, and bistable state beam 3 passes rigid disk 4, and makes rigid disk 4 and the contact wire of bistable state beam 3 be positioned at the position, middle of beam.The two ends of rigid disk 4 are bonding with intelligent soft material film 51,52 respectively, directly bear the pulling force that intelligent soft material film produces because of deformation, and pulling force is passed to bistable state beam 3.
Two intelligent soft material films 51 of bistable actuator of the present invention, 52 lay respectively at rigid disk 4 both sides, bonding with rigid disk 4, the another side of intelligence soft material film utilizes fixture 6 to be fixed on stretching arm 2, intelligence soft material film has certain pretightning force, and the size of pretightning force can regulate by stretching arm 2.(or light, magnetic, heat) wherein a slice intelligence soft material film generation eigenstrain by powering up, thus pull rigid disk 4 to move, and then the flexing direction of bistable state beam 3 is changed.
The energisation mode of bistable actuator of the present invention can adopt various ways, as hot, optical, electrical, magnetic etc., chooses dissimilar intelligent soft material film according to the difference of energisation mode.
Below in conjunction with accompanying drawing, bistable actuator provided by the invention is further illustrated.
The actuating force that makes bistable state beam 3 change state in the present invention is produced by intelligent soft material film 51,52, and first intelligent soft material film will be installed before use.As shown in Figure 1, the outer end of intelligent soft material film 51,52 is clamped by fixture 6, inner bonding with rigid disk 4, according to the difference of energisation mode, chooses different intelligent soft material thin-film materials, below part taking dielectric elastomer as example.
The positive and negative of two intelligent soft material films 51,52 is connected with additional power source by electrode respectively.
In the time using this device, also will carry out pre-stretching adjusting to intelligent soft material film 51,52, control method is the adjusting bolt in rotation both sides stretching arm 2.Because bistable state beam 3 is in flexion, and the Liangqi bending stiffness difference of different materials, make its size that changes the required pulling force of flexing direction also different, and the pulling force that intelligent soft material film pretightning force adjustable produces intelligent soft material film in the time of energising is also adjustable, ensure that intelligence soft material film produces because of deformation in the time of energising pulling force is enough to change the flexing direction of bistable state beam 3.
Excessive when the bending stiffness of bistable state beam 3, by regulating pretightning force also cannot change its flexing direction time, to change the beam that bending stiffness is less, to ensure that actuator can normally work.
Choosing of the energisation mode of bistable actuator of the present invention can be diversified, according to the difference of choosing energisation mode, need to select corresponding intelligent soft material film 51,52, the energisation mode of selecting in accompanying drawing is high pressure generator, therefore selects DE film as intelligent soft material film 51,52.
When bistable actuator of the present invention is during in stable state, bistable state beam 3 is in stable state, and namely it is in a certain flexion, and owing to now not applying extrinsic motivated, the pulling force on intelligent soft material film 51,52 does not change; In the time applying extrinsic motivated, intelligence soft material film 51,52 due to eigenstrain occurring, cause the pulling force on film to change, make bistable state beam 3 in unsteady state, namely it is in the jump process from a certain flexion to another flexion, and bistable actuator generation state switches, in the time that the jump process of bistable state beam finishes, bistable actuator has just completed state switching.
Particularly, bistable state beam 3 start time in a certain flexion, two intelligent soft material films balance each other to the pulling force of rigid disk 4, in the time applying voltage to the intelligent soft material film 52 of beam flexing direction, 52 diastoles of intelligence soft material film, the pulling force producing reduces rapidly, and now thin 51 films of the intelligent soft material of opposite side still in Pre strained state, thereby make the intelligent soft material film 51 of opposite side rapidly rigid disk 4 be pulled to opposite side, and then promote bistable state beam 3 to opposite side flexing, now turn off power supply, bistable state beam 3 remains on the state after switching, do not need continued power to maintain this state.In the time needing bistable state beam 3 to switch back original state, only need on opposite side intelligence soft material film 51, apply voltage, the electric charge on an original side intelligence soft material film 52 is discharged simultaneously, just can make bistable state beam switch back to original state.
The present invention is owing to needing continued power to maintain the flexion of bistable state beam, therefore energy savings comparatively; Because the intelligent soft material of majority has viscoplasticity, the jump performance of application bistable structure can improve response speed and the actuating force of intelligent soft material simultaneously; Compared with existing bistable actuator, this invention structure is very simple, takes up room little, goes for more occasions.
Claims (10)
1. a bistable actuator, is characterized in that: described bistable actuator comprises support (1), pre-stretching mechanism, actuating mechanism and driving mechanism, wherein:
Described pre-stretching mechanism is for regulating the pre-stretching of driving mechanism;
Described driving mechanism utilizes the eigenstrain of intelligent soft material to produce actuating force;
Described actuating mechanism is used for making described actuator mutually to switch between two stable states, and described actuating mechanism only need to provide energy in the time that state switches, and does not need energy while keeping stable state.
2. bistable actuator according to claim 1, it is characterized in that: described driving mechanism is intelligent soft material film (51,52), described actuating mechanism drives by contraction and the diastole of intelligent soft material film (51,52).
3. bistable actuator according to claim 2, is characterized in that: the material of described intelligent soft material film (51,52) is selected from photo-induced telescopic elastomer, dielectric elastomer, magnetostriction elastomer.
4. bistable actuator according to claim 1, is characterized in that: described driving mechanism is spring structure.
5. according to the bistable actuator described in claim 1-4 any one, it is characterized in that: described pre-stretching mechanism is stretching arm (2), described stretching arm (2) is distributed in support (1) both sides.
6. bistable actuator according to claim 5, is characterized in that: described stretching arm (2) is provided with fixture (6), and described fixture (6) is provided with fishbolt.
7. according to the bistable actuator described in claim 1-4 any one, it is characterized in that: described actuating mechanism comprises bistable state beam (3) and rigid disk (4), described bistable state beam (3) is connected with rigid disk (4), described driving mechanism and rigid disk (4) are bonding, the two ends of described bistable state beam (3) are connected with support (1), described bistable state beam (3) is realized described actuator by the switching of location status and is mutually switched between two stable states, described bistable state beam (3) only need to provide energy in the time that location status switches, while keeping settling position state, do not need energy.
8. according to the bistable actuator described in claim 1-4 any one, it is characterized in that: described intelligent soft material film (51,52) lay respectively at rigid disk (4) both sides, intelligence soft material film (51,52) the inner and rigid disk (4) are bonding, and outer end is fixed on the fixture (6) that is connecting stretching arm (2).
9. according to the bistable actuator described in claim 1-4 any one, it is characterized in that: described bistable state beam (3), for two hinged beams, is realized the change of bistable state beam location status by beam middle part is applied to pulling force.
10. according to the bistable actuator described in claim 1-4 any one, it is characterized in that: the energisation mode of described bistable actuator be selected from luminous energy, electric energy, magnetic energy any one or multiple arbitrarily.
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| CN104763620A (en) * | 2014-10-31 | 2015-07-08 | 浙江大学 | Flexible peristaltic pump |
| CN109312724A (en) * | 2016-04-29 | 2019-02-05 | 琳得科美国股份有限公司 | Bistable actuator device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203775077U (en) * | 2013-10-10 | 2014-08-13 | 浙江大学 | Bistable actuator |
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| CN203775077U (en) * | 2013-10-10 | 2014-08-13 | 浙江大学 | Bistable actuator |
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| CN104763620A (en) * | 2014-10-31 | 2015-07-08 | 浙江大学 | Flexible peristaltic pump |
| CN109312724A (en) * | 2016-04-29 | 2019-02-05 | 琳得科美国股份有限公司 | Bistable actuator device |
| US10982739B2 (en) | 2016-04-29 | 2021-04-20 | Lintec Of America, Inc. | Bi-stable actuator devices |
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