CN108406839A - A kind of integrated form joint prosthesis and its application based on the modification of laser local - Google Patents
A kind of integrated form joint prosthesis and its application based on the modification of laser local Download PDFInfo
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- CN108406839A CN108406839A CN201810167320.4A CN201810167320A CN108406839A CN 108406839 A CN108406839 A CN 108406839A CN 201810167320 A CN201810167320 A CN 201810167320A CN 108406839 A CN108406839 A CN 108406839A
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- layer
- optical drive
- joint
- joint prosthesis
- integrated form
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of integrated form joint prosthesis being modified based on laser local and its applications, belong to flexible robot's technical field, class musculature raw material of the present invention using the bilayer film that graphene oxide/gold nanorods complex thin film and thin polymer film is constituted as flexible manipulator, utilize the graphene oxide at each finger joint style of laser local reductive modification manipulator, so that the bilayer film of these joint positions is converted into CD-ROM driver, multiple optical drive can be independently carried out to obtain, the joint prosthesis of integrated form, realize the basic exercise and mechanics function control to flexible manipulator.The joint prosthesis is single piece type hand-type double-layer film structure, is made of joint driver and muscle Support；The joint driver includes the optical drive trigger layer of lower layer and the thin polymer film on upper layer, is located at the corresponding articulations digitorum manus position of apery hand design；The muscle Support includes the thin polymer film of the optical drive non-toggle layer and upper layer of lower layer.
Description
Technical field
The invention belongs to flexible robot's technical fields, and in particular to utilize graphene oxide/gold nanorods of reduction
Complex thin film constitutes the integrated form joint prosthesis of optical drive with thin polymer film, and is carried out to multiple joint prosthesises by laser
Independent, flexible driving, to realize the flexible manipulator for the basic function for having human hand.
Technical background
Flexible robot is a kind of important branch of robot.The machine constituted compared to rigid materials such as traditional metals
People, flexible robot have yielding (bending, folding and expansion etc.), easily restore and to various working environment adaptabilities
With the advantages such as safety to human body.As it can be seen that flexible robot has significantly mutually traditional robot in characteristic and function
Benefit property can cover and fill up the limited application field of many traditional robots, including biomedical, sensor and bionics etc.
Aspect.
The material for being presently used for processing flexibility robot mainly has the flexible materials such as hydrogel, polymer and artificial rubber.
And in order to realize the most basic movement of flexible robot and various mechanics functions, available external motivating force can be electricity, magnetic,
The single stimulation such as light, heat, humidity or even double stimuli.However, it is contemplated that the freedom of motion of each building block of robot
With the corresponding complexity of various basic mechanical functions, to realize then means to must be loaded with largely to the independent control of these components
Driver simultaneously implements control driving one by one.For example, by taking most common manipulator robot as an example, need in each finger joint style
Place's setting driver (at least 15) simultaneously carries out independent drive control, could realize the similar most basic movement of human hand and function
(finger is mobile, is bent and grasps etc.).Existing flexible robot's technology mostly use need at the node or component that control by
One setting driver, is then again connected to each driver with access (circuit or gas circuit) and carries out centralized driving control.
Flexible robot based on such " driver-access " design often has complicated, control underaction and technique cumbersome
The problems such as, it is difficult to solve using the prior art.
Invention content
In view of the deficiencies of the prior art, the technical problem to be solved by the present invention is to：It provides a kind of based on the modification of laser local
Integrated form joint prosthesis.The bilayer film constituted with graphene oxide/gold nanorods complex thin film and thin polymer film
As the class musculature raw material of flexible manipulator, the stone at each finger joint style of laser local reductive modification manipulator is utilized
Black olefinic oxide so that the bilayer film of these joint positions is converted into CD-ROM driver, to obtain it is multiple can independently into
Row optical drive, integrated form joint prosthesis realizes basic exercise and mechanics function control to flexible manipulator.
The present invention is achieved through the following technical solutions：
A kind of integrated form joint prosthesis being modified based on laser local, the joint prosthesis are single piece type hand-type bilayer film
Structure is made of joint driver 1 and muscle Support 2；
Wherein, the joint driver 1 includes the thin polymer film 5 of the optical drive trigger layer 3 and upper layer of lower layer, is located at
The corresponding articulations digitorum manus position of apery hand design, movement and deformation for controlling every flexible mechanical finger；
The muscle Support 2 includes the thin polymer film 5 of the optical drive non-toggle layer 4 and upper layer of lower layer, plays branch
The effect of the artificial-muscle of support, connection and integrated each joint driver 2.
Further, the non-toggle layer 4 of the optical drive is graphene oxide/gold nanorods complex thin film, the light
Driving trigger layer 3 is the graphene oxide/gold nanorods complex thin film for the reduction being modified via laser local,
In, the mass ratio of optical drive trigger layer 3 and graphene oxide and gold nanorods in the non-toggle layer of optical drive 4 is 3.25:1-
8.12:1, the film thickness of optical drive trigger layer 3 is 1-2 μm, 2-10 μm of the film thickness of the non-toggle layer of optical drive 4.
Further, the material of the thin polymer film 5 is polymethyl methacrylate (PMMA), and film thickness is 10-50 μm.
Further, the number of the joint driver 1 is 14-22, and each finger for being located at five fingers closes
At section.
The present invention also provides the integrated form joint prosthesises being modified based on laser local to constitute and manipulate flexible manipulator
The application of aspect, i.e., by carrying out independent optical drive to multiple integrated form joint prosthesises, to realize flexible mechanical hand finger
Basic exercise and crawl function.
Compared with prior art, the present invention has the following advantages：
(1), it is modified at the joint position of artificial-muscle using laser local and directly generates simultaneously integrated optical driver, significantly
Simplify preparation process and flexible robot's structure；
(2), the independent operation in a joint is controlled using beam of laser so that more straight to the control of flexible robot
It connects, is quickly and flexible.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of integrated form joint prosthesis being modified based on laser local of the present invention；
In figure：Joint driver 1, muscle Support 2, optical drive trigger layer 3, the non-toggle layer 4 of optical drive, thin polymer film
5；
Fig. 2 is a kind of apery hand schematic diagram of the flexible manipulator of assembling of the present invention；
Fig. 3 is a kind of pictorial diagram of the flexible manipulator of assembling of the present invention；
Fig. 4 is that a kind of single beam laser of integrated form joint prosthesis being modified based on laser local of the present invention drives figure；
Wherein, (a)-(d) is followed successively by the second joint of optical drive index finger, middle finger, the third finger and little finger of toe；
Fig. 5 is a kind of two beam Laser Drivens signal of integrated form joint prosthesis being modified based on laser local of the present invention
Figure.
Specific implementation mode
The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figure 1, the present invention provides a kind of integrated form joint prosthesis being modified based on laser local, the artificial pass
Section includes joint driver 1 and muscle Support 2；Entire joint prosthesis is hand-type double-layer film structure；
The joint driver 1 includes the thin polymer film 5 of the optical drive trigger layer 3 and upper layer of lower layer；When by CD-ROM drive
When dynamic, optical drive trigger layer 3 and thin polymer film 5 occur photothermal response and expand, since the coefficient of expansion of thin polymer film 5 is remote
More than optical drive trigger layer 3, so that joint driver 1 is bent downwardly；Wherein, optical drive trigger layer 3 plays enhancing light and inhales
Receive and promoted the effect of speed of photoresponse；
The thin polymer film 5 of the optical drive non-toggle layer 4 and upper layer of the muscle Support 2 including lower layer, play support,
Connection and the effect for integrating each joint driver；
The non-toggle layer 4 of optical drive is graphene oxide/gold nanorods complex thin film, the optical drive trigger layer
3 be the graphene oxide/gold nanorods complex thin film for the reduction being modified via laser local.
Embodiment 2
The integrated form joint prosthesis being modified based on laser local is driven using single beam laser.
Integrated form joint prosthesis proposed by the present invention, using the method that laser local is modified directly by multiple CD-ROM driver collection
At the joint position to flexible manipulator, and laser is supported to drive the mode of joint driver " one-to-one correspondence ", to
Substantially increase the flexibility ratio of driving.
Using the method for the integrated form joint prosthesis that single beam laser driving is modified based on laser local, it is as follows：
(1), flexible manipulator is assembled；
The specific steps are：Joint driver number on integrated form joint prosthesis used is 14, is located at each finger
Bone joint, flexible manipulator hand bone used are obtained by being cut by laser PDMS (dimethyl silicone polymer) film, thickness 2mm, packet
Add carpal bone containing 14 pieces of discrete phalanges and 1 piece of integral type metacarpal bone；Every piece of hand bone is adhered into hand-type joint prosthesis according to human hand structure
Corresponding position above muscle Support completes flexible manipulator assembling；
(2), single beam laser drives joint driver：
The specific steps are：3 thickness of optical drive trigger layer of joint prosthesis used is 2 μm, and non-toggle 4 thickness of layer of optical drive is
1 μm, 5 thickness of thin polymer film is 10 μm.Optical drive light source used is carbon dioxide laser, wavelength 808nm；By laser
Hot spot is beaten to the joint driver to be driven, which bends, and respective finger is driven to bend therewith.
By Fig. 2 and Fig. 3 it is found that the flexible manipulator of apery hand design can be by 14 pieces of discrete phalanges and one piece of integral type
Metacarpal bone adds carpal bone to constitute skeleton part, then these skeletons are adhered to according to structure design the hand-type integrated form people of comparable dimensions again
On work joint, you can obtain the flexible manipulator of a centimetres.
As shown in Figure 4, by successively with single beam laser to the of the index finger of flexible manipulator, middle finger, the third finger and little finger of toe
Two articulations digitorum manus carry out optical drive, may make respective finger that quickly bending deformation occurs, and illustrate to be modified based on laser local integrated
Formula joint prosthesis has efficient optical drive effect.
Embodiment 3
The integrated form joint prosthesis being modified based on laser local using two beam Laser Drivens.
Based on laser local be modified integrated form joint prosthesis each joint driver have can independent operation a pair
One CD-ROM drive dynamic characteristic is not necessarily to access and central controlled somewhat complex design.As long as providing multiple laser light sources respectively to corresponding number
Joint driver carry out respectively driving control, can realize the more deformation of flexible manipulator or even mechanics function.
Using the method for the integrated form joint prosthesis that two beam Laser Drivens are modified based on laser local, the specific steps are：
(1), flexible manipulator assembles：Step and parameter are the same as embodiment 1；The optical drive trigger layer 3 of joint prosthesis used is thick
Degree is 10 μm, and non-toggle 4 thickness of layer of optical drive is 2 μm, and 5 thickness of thin polymer film is 50 μm.
(2), optical drive light source used is two carbon dioxide lasers, and wavelength is 808nm, provides two beams respectively and swashs
Light；Two laser hot spots are turned respectively at the joint driver to be driven, these joints bend, and drive corresponding
Finger is bent therewith.
As shown in Figure 5, optical drive can be carried out respectively to two articulations digitorum manus of a finger so that two using two beam laser
Joint driver bends, and the bending state grasped is presented in final finger.As it can be seen that using two beams or even multiple laser to more
A joint driver is respectively driven, and is expected to realize the mechanics function of the various flexible complexity of flexible manipulator.
Claims (5)
1. a kind of integrated form joint prosthesis being modified based on laser local, which is characterized in that the joint prosthesis is single piece type hand
Type double-layer film structure is made of joint driver (1) and muscle Support (2)；
Wherein, the joint driver (1) includes the optical drive trigger layer (3) of lower layer and the thin polymer film (5) on upper layer, position
In the corresponding articulations digitorum manus position of apery hand design, movement and deformation for controlling every flexible mechanical finger；
The muscle Support (2) includes the non-toggle layer of optical drive (4) of lower layer and the thin polymer film (5) on upper layer, is played
The effect of the artificial-muscle of support, connection and integrated each joint driver (2).
2. a kind of integrated form joint prosthesis being modified based on laser local as described in claim 1, which is characterized in that the light
It is graphene oxide/gold nanorods complex thin film to drive non-toggle layer (4), and the optical drive trigger layer (3) is via sharp
The graphene oxide for the reduction that light local is modified/gold nanorods complex thin film, wherein optical drive trigger layer (3) and
The mass ratio of graphene oxide and gold nanorods in the non-toggle layer of optical drive (4) is 3.25:1-8.12:1, optical drive triggering
The film thickness of layer (3) is 1-2 μm, 2-10 μm of the film thickness of the non-toggle layer of optical drive (4).
3. a kind of integrated form joint prosthesis being modified based on laser local, which is characterized in that the material of the thin polymer film (5)
For polymethyl methacrylate, film thickness is 10-50 μm.
4. a kind of integrated form joint prosthesis being modified based on laser local, which is characterized in that the number of the joint driver (1)
Mesh is 14-22, is located at each articulations digitorum manus of five fingers.
5. a kind of application of integrated form joint prosthesis being modified based on laser local as described in claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810167320.4A CN108406839B (en) | 2018-02-28 | 2018-02-28 | Integrated artificial joint based on laser local modification and application thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810167320.4A CN108406839B (en) | 2018-02-28 | 2018-02-28 | Integrated artificial joint based on laser local modification and application thereof |
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| Publication Number | Publication Date |
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| CN108406839A true CN108406839A (en) | 2018-08-17 |
| CN108406839B CN108406839B (en) | 2021-06-18 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109291042A (en) * | 2018-11-15 | 2019-02-01 | 中国地质大学（武汉） | Three-dimensional porous graphene humanoid robot Dextrous Hand |
| CN112025752A (en) * | 2020-09-08 | 2020-12-04 | 东南大学 | Passive wireless machine snatchs hand based on machinery metamaterial structure |
| CN113370244A (en) * | 2021-06-30 | 2021-09-10 | 合肥工业大学 | Programmable control flexible actuator and preparation method thereof |
| CN114750141A (en) * | 2022-04-29 | 2022-07-15 | 电子科技大学 | Dielectric elastomer artificial muscle based on laser carbonization and preparation method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291042A (en) * | 2018-11-15 | 2019-02-01 | 中国地质大学（武汉） | Three-dimensional porous graphene humanoid robot Dextrous Hand |
| CN109291042B (en) * | 2018-11-15 | 2023-10-27 | 中国地质大学（武汉） | Three-dimensional porous graphene robot smart hand |
| CN112025752A (en) * | 2020-09-08 | 2020-12-04 | 东南大学 | Passive wireless machine snatchs hand based on machinery metamaterial structure |
| CN112025752B (en) * | 2020-09-08 | 2021-09-03 | 东南大学 | Passive wireless machine snatchs hand based on machinery metamaterial structure |
| CN113370244A (en) * | 2021-06-30 | 2021-09-10 | 合肥工业大学 | Programmable control flexible actuator and preparation method thereof |
| CN114750141A (en) * | 2022-04-29 | 2022-07-15 | 电子科技大学 | Dielectric elastomer artificial muscle based on laser carbonization and preparation method thereof |
| CN114750141B (en) * | 2022-04-29 | 2023-10-17 | 电子科技大学 | Dielectric elastomer artificial muscle based on laser carbonization and preparation method thereof |
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| CN108406839B (en) | 2021-06-18 |
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