CN109334802B - Preparation method of hydraulically-driven flexible gecko-like toe - Google Patents
Preparation method of hydraulically-driven flexible gecko-like toe Download PDFInfo
- Publication number
- CN109334802B CN109334802B CN201811246933.3A CN201811246933A CN109334802B CN 109334802 B CN109334802 B CN 109334802B CN 201811246933 A CN201811246933 A CN 201811246933A CN 109334802 B CN109334802 B CN 109334802B
- Authority
- CN
- China
- Prior art keywords
- active layer
- cavity
- layer
- gecko
- toe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000002360 preparation method Methods 0.000 title claims abstract description 9
- 210000003371 toe Anatomy 0.000 claims abstract description 51
- 239000007788 liquid Substances 0.000 claims abstract description 27
- 239000000463 material Substances 0.000 claims abstract description 15
- 238000004804 winding Methods 0.000 claims abstract description 10
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 5
- 229920000728 polyester Polymers 0.000 claims abstract description 5
- 229920002379 silicone rubber Polymers 0.000 claims description 29
- 238000000034 method Methods 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 claims description 10
- 239000004944 Liquid Silicone Rubber Substances 0.000 claims description 7
- 230000001680 brushing effect Effects 0.000 claims description 6
- 229920001971 elastomer Polymers 0.000 claims description 5
- 238000010146 3D printing Methods 0.000 claims description 3
- 239000003795 chemical substances by application Substances 0.000 claims description 3
- 230000008961 swelling Effects 0.000 claims description 3
- 238000003892 spreading Methods 0.000 claims description 2
- 239000010410 layer Substances 0.000 abstract description 54
- 239000004205 dimethyl polysiloxane Substances 0.000 abstract description 7
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 abstract description 7
- -1 polydimethylsiloxane Polymers 0.000 abstract description 3
- 238000011161 development Methods 0.000 abstract description 2
- 239000002356 single layer Substances 0.000 abstract description 2
- 238000005452 bending Methods 0.000 description 6
- 238000003795 desorption Methods 0.000 description 4
- 230000006399 behavior Effects 0.000 description 3
- 238000005266 casting Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011056 performance test Methods 0.000 description 2
- 229920001843 polymethylhydrosiloxane Polymers 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 230000002209 hydrophobic effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 229920003229 poly(methyl methacrylate) Polymers 0.000 description 1
- 239000004926 polymethyl methacrylate Substances 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010340 shenyuan Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Casting Or Compression Moulding Of Plastics Or The Like (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a preparation method of a hydraulically-driven flexible gecko-like toe, which comprises an upper cavity and a lower cavity, wherein the upper cavity is prepared from polydimethylsiloxane, the outer surface of an active layer of each cavity is provided with a uniform trapezoidal groove and a spiral winding line, the two cavities share a passive layer, a single-layer polyester single silk screen is embedded in the passive layer, the bottom side surface of the toe is provided with a flap strip-shaped protruding plane, and a layer of seta-like array adhesion material and a catheter are attached to the protruding plane. The behavior mode of adduction and eversion of gecko toes and the structural characteristics of the bristle array are simulated, so that the adduction, eversion and adhesion versatility of the bionic toes under the driving of liquid is realized, and a key technical support is provided for the development and application of the gecko-simulated robot.
Description
Technical Field
The invention belongs to the technical field of gecko-like robots, and particularly relates to a method for preparing adduction, eversion and adhesion hydraulic drive type gecko-like flexible toes by utilizing Polydimethylsiloxane (PDMS).
Background
The gecko-like robot has wide application potential in the fields of building outer wall cleaning, outer space capsule maintenance and the like, and can move freely with toes. Most toes of the traditional gecko-like robot adopt rigid-connection mechanical drive (see the Chinese patent application No. CN200610150939.1), the structure is complex, and the gecko-like robot is mostly in rigid contact with a contact surface, so that the gecko-like robot is not beneficial to walking and climbing on an inclined or curved surface.
The gecko's paws are very soft, the toes are composed of row-shaped flaps, which can be folded inwards and outwards, and the tail end of each flap is provided with a bristle array structure of micro-nanometer scale. The combination of the delicate motion control of the gecko toe adduction and eversion and the dry adhesion force generated by the micro-nano bristle array enables the gecko to freely and flexibly move on the surfaces of any inclination angles and materials such as the ground, a steep wall, a ceiling and the like. Therefore, the flexible toe which is attached to the gecko-like robot for walking, climbing and high in applicability is designed and manufactured by simulating the adduction-eversion movement form of the gecko toe and combining the bionic micro-nano array structure with dry adhesion.
PDMS (Polydimethylsiloxane) is used as a flexible and hydrophobic transparent elastomer and is a suitable material for manufacturing gecko-like toes, and the low-hardness PDMS is obtained by adjusting a preparation process, so that the large-angle inward-folding and outward-folding behaviors of the toes under low pressure can be realized. In order to facilitate the adhesion and the desorption of the gecko-like toes, a certain terminal force is required. Galloway et al were designed to produce a fiber-reinforced gas drive that achieved a higher tip force (Galloway K C, Polygerinos P, Walsh C J, et al, mechanical programmable bend radius for fiber-reinforced soft actuators. International Conference on Advanced rotors. IEEE 2014:1-6.) but the gas compressibility was high and the same volume produced much less pressure than the liquid. Furthermore, in order to make the gecko-like robot crawl on inclined or even overhanging surfaces, a seta-like dry adhesion material is added on the bottom surface of the gecko-like toes, so as to obtain sufficient toe adhesion (carbon G, Pierro E, Gorb S N. Origin of the super adhesive performance of polished-polished microstructure magnetic Matter, 2011, 7(12): 5545-.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a preparation method of a hydraulically-driven flexible gecko-like toe, so as to realize the movement behaviors of inward contraction, outward turning and adhesion of the gecko toe under the hydraulic drive, provide key technical support for the development of the gecko-like robot, and realize the walking and climbing of the gecko-like robot on complex planes such as bending, vertical and overhung.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention discloses a preparation method of a hydraulically-driven flexible gecko-like toe, which comprises the following steps:
(1) designing and preparing a die: preparing a die for a cavity active layer and a die for a cavity passive layer, wherein the inner section of the active layer is semicircular, the inner surface of the active layer is provided with a cavity groove and a protruding structure corresponding to winding lines, and the die for the passive layer is rectangular;
(2) manufacturing a cavity active layer: preparing low-hardness liquid silicon rubber, vacuumizing the low-hardness liquid silicon rubber, putting the low-hardness liquid silicon rubber into a cavity active layer mold, and manufacturing an active layer by using a vacuum casting method;
(3) manufacturing a cavity passive layer: spreading a layer of liquid silicone rubber in a rectangular mould, and immersing a layer of non-elastic polyester single-wire net; placing the active layer, and brushing liquid silicon rubber around the active layer to obtain a first cavity; repeating the steps (1) to (2) to manufacture a second active layer, laying a layer of liquid silicon rubber in the same rectangular mould, putting the active layer on the second active layer, and brushing the liquid silicon rubber around the active layer to obtain a second cavity;
(4) connection of the cavity to the catheter: the passive layers of the two cavities are adhered together by liquid silicone rubber, so that the two cavities share one passive layer to form a complete toe; a small hole is arranged on each cavity, and a rubber tube is inserted to introduce driving liquid;
(5) adding a bionic dry adhesion material: convex planes which are separated by grooves and are parallel to each other are poured on the bottom sides of the toes, and the setae-imitating array material is attached to the convex planes by liquid silicon rubber.
Further, a 3D printing device is adopted in the step (1) to prepare a mold of the cavity active layer and the cavity passive layer.
Further, the aspect ratio of the mold in the step (1) is about 7: 1.
further, in the step (2), the prepolymer and the curing agent are prepared into the low-hardness liquid silicone rubber according to a ratio of 18: 1.
Further, the step (2) specifically includes: and winding the active layer by adopting an inverted cross-over spiral method to prevent the swelling deformation of the active layer.
The invention has the beneficial effects that:
(1) the gecko-like toes prepared from PDMS are low in rigidity, large in flexibility, capable of being hydraulically driven, low in cost and easy to control;
(2) according to the invention, a larger toe end force and a larger toe bending angle are obtained through a cross binding technology, so that the expansion deformation of the toes is limited;
(3) according to the invention, the non-elastic gauze is added on the passive layer to restrain axial stretching, so that unidirectional bending of the cavity can be controlled, and multidirectional deformation is avoided;
(4) the toe turning-in and turning-out device drives the two cavities to enable toes to be bent in two directions through hydraulic pressure, so that the controllable turning-in and turning-out behavior can be realized, and a driving system is simple;
(5) the invention combines the seta-imitating array material and imitates the gecko toe flap strip-shaped structure, so that toes have larger adhesion and agile desorption capability.
Drawings
FIG. 1a is a schematic view of an active layer mold;
FIG. 1b is a schematic view of a passive layer mold;
FIG. 1c is a schematic view of a raised underside planar mold;
FIG. 2 is a schematic view of the overall structure of a gecko-like flexible toe;
FIG. 3 shows the toe flexion angle during adduction and eversion under different hydraulic pressures;
FIG. 4 is a graph of the end output force of the toes during adduction and eversion at different hydraulic pressures;
in the figure: a1 external surface mould of active layer, a2 internal surface mould of active layer; 1 ' is a convex structure corresponding to the groove, 2 ' is a convex structure corresponding to the winding line, and 3 ' is a convex structure corresponding to the groove at the bottom side; 1 is an active layer, 11 is a groove, 12 is a fine line, 13 is a bottom groove, 2 is a passive layer, 21 is a non-elastic polyester single silk screen, 3 is a convex plane, 4 is a setae-like adhesion material, and 5 is a rubber tube.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
The invention discloses a preparation method of a hydraulically-driven flexible gecko-like toe, which comprises the following steps:
(1) mold design and printing
Two sets of identical active layer and passive layer molds and a raised planar mold were printed with 3D printing equipment (end-3S). As shown in fig. 1a to fig. 1c, the active layer mold has a length of 7 cm and a width of 1 cm, a section of the active layer mold is semicircular (wall thickness of 2 mm), and a protruding structure 1 '(having a length of 6mm and a width of 1 mm and a height of 0.5 mm) corresponding to the cavity groove and a protruding structure 2' corresponding to the cavity winding line are axially arranged on the surface of the active layer mold; the passive layer and the raised plane die are rectangles with the length of 9 cm, the width of 2 cm and the depth of 5 mm, and the inner side of the raised plane die is provided with a raised structure 3' corresponding to the bottom side groove, the length of the raised structure is 6mm, the width of the raised structure is 1 mm, and the height of the raised structure is 1 mm.
(2) Two identical active layers 1 are fabricated
(21) Preparing silicon rubber: mixing and stirring the prepolymer (PMHS 184, Dow Corning) and the curing agent (PMHS 186, Dow Corning) according to the ratio of 18:1 until the mixture is uniform, and vacuumizing for 5-7 times by using a mechanical pump until bubbles completely disappear;
(22) pouring: fixing a cavity die by using bench clamps, injecting silicon rubber, curing at 60 ℃ for 1.5 h, and removing the die to obtain a cavity active layer with a groove 11 and winding lines on the outer surface;
(23) spiral binding wire: to prevent the swelling deformation of the active layer, the active layer is bound with a thread 12 of 0.2 mm at an angle of 45 ° along the grain of the die surface by a reverse cross spiral winding method.
(3) Fabrication of the passive layer 2
(31) Two passive layers were fabricated: a layer of liquid silicon rubber with the thickness of 1 mm is flatly laid in the rectangular mould, wherein a single-layer inelastic polyester single-wire net 21 (140 meshes/foot, the wire diameter is 64 mu m) is lightly laid on one of the rectangular mould, the rectangular mould is kept stand for 1 min to be immersed in the liquid silicon rubber, and the other liquid silicon rubber is not laid and is all put in an oven to be cured for 10 min at the temperature of 60 ℃;
(32) connecting the active layer to form a cavity: gently placing the active layer, sealing the joint with liquid silicone rubber, brushing a thin liquid silicone rubber fixing winding wire, integrally placing the whole body in an oven for curing at 60 ℃ for 45 min, and cutting off the redundant passive layer to obtain two cavities.
(4) Attachment and curing of integral toes
(41) Connecting a liquid guide pipe: a small hole is arranged on each cavity, a rubber tube 5 with the thickness of 2 mm is inserted into each cavity for liquid to flow through, and the gap is sealed by liquid silicon rubber;
(42) and (3) curing the whole toe: brushing a layer of liquid silicon rubber on the outer surfaces of the passive layers of the two driving cavities to enable the two driving cavities to be bonded together, and finally putting the driving cavities into an oven to be cured for 45 min at 60 ℃.
(5) Adding bionic dry adhesion material
(51) Casting a convex plane: adopting a vacuum casting method to cast a layer of parallel strip-shaped convex planes 3 on the bottom surfaces of toes, wherein each convex plane has the length of 6mm, the width of 1 mm and the height of 0.5 mm, and grooves 13 with the depth of 1 mm are arranged among the protrusions;
(52) adding a dry adhesion material: and (3) sticking the seta-like array adhesion material to the convex plane by using liquid silicon rubber, and removing redundant material after curing to obtain a complete gecko-like toe, as shown in figure 2.
Hydraulic drive bending performance test
Liquid water is introduced into the gecko-like toes manufactured by the method for carrying out hydraulic driving performance test, and a protractor is adopted to measure the bending angles of the toes in the processes of adduction and eversion under different hydraulic pressures, and the result is shown in figure 3; measuring the tail end output force of the toes in the adduction and eversion processes under different hydraulic pressures by adopting a two-dimensional force sensor (D201001 AAO, Shenyuan), wherein the contact position of the sensor is 1 mm away from the tail ends of the toes, and the measurement result is shown in figure 4; the acrylic Plate (PMMA) is used as a contact surface material, and a six-dimensional force sensor (L33, Shenyuan Sheng) is used for testing the adhesion performance of the toe adhesion contact surface, so that the results show that under the hydraulic drive of 10 kPa, 7.63N tangential adhesion force and 5.37N normal adhesion force can be generated when the toe adhesion contact surface is driven, and the minimum desorption force is only 0.57N. Therefore, the gecko-like toes can generate larger bending deformation and tail end output force under lower hydraulic driving, and have good adhesion performance and agile desorption capacity.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (4)
1. A preparation method of a hydraulically-driven flexible gecko-like toe is characterized by comprising the following steps:
(1) designing and preparing a die: preparing a die for a cavity active layer and a die for a cavity passive layer, wherein the inner section of the active layer is semicircular, the inner surface of the active layer is provided with a cavity groove and a protruding structure corresponding to winding lines, and the die for the passive layer is rectangular;
(2) manufacturing a cavity active layer: preparing liquid silicon rubber with the ratio of prepolymer PMHS184 to curing agent PMHS186 being 18:1, vacuumizing the liquid silicon rubber, pouring the liquid silicon rubber into a cavity active layer mold, and manufacturing an active layer by using a vacuum pouring method;
(3) manufacturing a cavity passive layer: spreading a layer of liquid silicone rubber in a rectangular mould, and immersing a layer of non-elastic polyester single-wire net; placing the active layer, and brushing liquid silicon rubber around the active layer to obtain a first cavity; repeating the steps (1) to (2) to manufacture a second active layer, laying a layer of liquid silicon rubber in the same rectangular mould, putting the active layer on the second active layer, and brushing the liquid silicon rubber around the active layer to obtain a second cavity;
(4) connection of the cavity to the catheter: the passive layers of the two cavities are adhered together by liquid silicone rubber, so that the two cavities share one passive layer to form a complete toe; a small hole is arranged on each cavity, and a rubber tube is inserted to introduce driving liquid;
(5) adding a bionic dry adhesion material: convex planes which are separated by grooves and are parallel to each other are poured on the bottom sides of the toes, and the setae-imitating array material is attached to the convex planes by liquid silicon rubber.
2. The method for preparing the hydraulically driven flexible gecko-like toe according to claim 1, wherein in the step (1), a 3D printing device is adopted to prepare a mold for the active layer and the passive layer of the cavity.
3. The method for preparing the hydraulically driven flexible gecko-like toe according to claim 1, wherein the aspect ratio of the mold in the step (1) is about 7: 1.
4. the preparation method of the hydraulically driven flexible gecko-like toe as claimed in claim 1, wherein the step (2) specifically comprises: and winding the active layer by adopting an inverted cross-over spiral method to prevent the swelling deformation of the active layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811246933.3A CN109334802B (en) | 2018-10-25 | 2018-10-25 | Preparation method of hydraulically-driven flexible gecko-like toe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811246933.3A CN109334802B (en) | 2018-10-25 | 2018-10-25 | Preparation method of hydraulically-driven flexible gecko-like toe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109334802A CN109334802A (en) | 2019-02-15 |
| CN109334802B true CN109334802B (en) | 2020-11-20 |
Family
ID=65311678
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811246933.3A Active CN109334802B (en) | 2018-10-25 | 2018-10-25 | Preparation method of hydraulically-driven flexible gecko-like toe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109334802B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113070896B (en) * | 2021-04-13 | 2023-03-24 | 中北大学 | Electric-heating driving type soft gripper simulating gecko toes and preparation method thereof |
| CN113147942B (en) * | 2021-04-19 | 2022-05-17 | 杭州电子科技大学 | Load sharing type mechanical foot and driving method thereof |
| CN113414995B (en) * | 2021-06-15 | 2022-09-16 | 南京航空航天大学 | Fluid-driven gecko-like adhesive toe with hook claw and preparation method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890988B (en) * | 2010-06-02 | 2011-11-30 | 南京航空航天大学 | Adhesive toe for gecko robot and movement method thereof |
| CN102372041B (en) * | 2011-10-21 | 2012-12-26 | 南京航空航天大学 | IPMC (Ion-exchange polymer-metal composites) based gecko-simulating active driving sole and driving mode |
| CN202781782U (en) * | 2012-06-08 | 2013-03-13 | 北京英博苑科技有限公司 | Bionic mixing-extruding test machine |
| US20140069578A1 (en) * | 2012-09-13 | 2014-03-13 | GM Global Technology Operations LLC | Shape memory polymer which functions as a reversible dry adhesive and methods of making and using the same |
| CN106378894A (en) * | 2016-09-09 | 2017-02-08 | 清华大学 | Gecko-imitated dry adhesion surface, product with gecko-imitated dry adhesion surface and manufacturing method of product |
-
2018
- 2018-10-25 CN CN201811246933.3A patent/CN109334802B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109334802A (en) | 2019-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109334802B (en) | Preparation method of hydraulically-driven flexible gecko-like toe | |
| Faudzi et al. | Development of bending soft actuator with different braided angles | |
| Wu et al. | Wireless soft millirobots for climbing three-dimensional surfaces in confined spaces | |
| US10385886B2 (en) | Soft actuators and soft actuating devices | |
| CN107972754B (en) | Shape memory alloy driven soft crawling robot | |
| Kang et al. | Programmable soft robotics based on nano-textured thermo-responsive actuators | |
| CN102540705B (en) | Preparation method of bionic PDMS (Polydimethylsiloxane) curved compound eye | |
| CA2717633C (en) | Biomimetic dry adhesives and methods of production therefor | |
| KR102424216B1 (en) | GRIPTING DEVICES AND METHOD OF MANUFACTURING GRIPING DEVICES | |
| CN108784670B (en) | Flexible adsorbent equipment and its manufacturing method | |
| CN111699244B (en) | Organ chip micro-fluidic device based on hydrogel | |
| US11724406B2 (en) | Pneumatic controlled soft gripper, manufacturing method thereof and article transport method using soft gripper | |
| KR102304559B1 (en) | Soft gripper having active three dimensional structure, and manufacturing method thereof | |
| Ding et al. | Capillary-driven automatic packaging | |
| CN113414995B (en) | Fluid-driven gecko-like adhesive toe with hook claw and preparation method thereof | |
| CN114055453A (en) | Multi-mode moving bionic inchworm crawling and climbing soft robot | |
| Hwang et al. | Soft microdenticles on artificial octopus sucker enable extraordinary adaptability and wet adhesion on diverse nonflat surfaces | |
| Williamson et al. | Extending the reach of single-chamber inflatable soft robots using Magnetorheological Fluids | |
| Olson et al. | Characterization of a class of soft bending arms | |
| Manabe et al. | A functional adhesive robot skin with integrated micro rubber suction cups | |
| CN212688092U (en) | Movable bionic micro-fluidic biochip device | |
| Wang et al. | Octopus-inspired sucker to absorb soft tissues: Stiffness gradient and acetabular protuberance improve the adsorption effect | |
| Cheng et al. | Fabrication and study of miniaturized soft pneumatic fingers | |
| Khan et al. | Synergetic adhesion in highly adaptable bio-inspired adhesive | |
| CN107901310A (en) | A kind of preparation method of flexible pneumatic manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |