CN109572966A - A kind of software artificial-muscle driver - Google Patents
A kind of software artificial-muscle driver Download PDFInfo
- Publication number
- CN109572966A CN109572966A CN201811418598.0A CN201811418598A CN109572966A CN 109572966 A CN109572966 A CN 109572966A CN 201811418598 A CN201811418598 A CN 201811418598A CN 109572966 A CN109572966 A CN 109572966A
- Authority
- CN
- China
- Prior art keywords
- layer
- high resiliency
- dielectric high
- film layer
- flexible electrode
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of software artificial-muscle drivers, including dielectric high resiliency film layer, flexible electrode layer, passive layer, firewire and waterproof insulation coating, passive layer two sides are respectively equipped at least layer dielectric high resiliency film layer, flexible electrode layer is arranged between passive layer and dielectric high resiliency film layer, firewire is drawn from flexible electrode layer, and the two sides of dielectric high resiliency film layer and flexible electrode layer thickness direction are arranged in waterproof insulation coating.The working range at full deep-sea can be achieved in the present invention, can replace pneumatic shell protection and pressure compensator, driver is made to complete the self-balancing of pressure；It keeps its corresponding static characteristic and dynamic characteristic to be in required working condition range, and huge external pressure can be born, the stability and corrosion resistance of structural material are extremely excellent, and light inexpensive, reduce cost.
Description
Technical field
The present invention relates to robot driver's technical field more particularly to a kind of software artificial-muscle drivers.
Background technique
Traditional underwater deep-sea robot architecture is usually assembled by components such as motor, piston, joint, hinges, power
Foot, power is big, performance is mature.But equally exist many disadvantages, such as it is heavy, safety coefficient is low, environmental suitability is poor, reliable
Property is low, transmission efficiency is low, noise is big etc..In deep-marine-environment, extreme hydraulic pressure and temperature environment bring underwater robot
Huge challenge, to conventional rigid watertight case system, motor and transmission mechanism brings great burden.
The technology complexity of underwater robot, structure size and whole matter has been significantly greatly increased in thick and heavy hard pressure casing
Amount.Aquatic organism supple body, excellent flexibility and powerful environmental suitability are the hair of underwater robot in nature
Exhibition provides new approaches, and the development of soft robot technology is also that better design underwater bionic robot provides the foundation branch
Support.Soft robot has the function of that structurally flexible degree height, good environmental adaptability, concealment are strong, more as a kind of novel robot
, there are very wide research and application prospect in the features such as sample.Mainly it is made of the elastic material that can bear large deformation, it can be with
Continuous modification has high freedom degree.
Summary of the invention
The present invention overcomes existing deep sea equipment, motor to usually require thick and heavy pneumatic shell or pressure compensator, spirit
Poor activity, the high deficiency of economic cost provide the software artificial-muscle driver that can be applied under the extreme pressure environment of deep-sea, with
Reach the comprehensive performance that optimization promotes driver.
In order to solve the above technical problems, the specific technical solution that the present invention uses is summarized as follows:
A kind of software artificial-muscle driver, which is characterized in that including dielectric high resiliency film layer 1, flexible electrode layer 2, passive
Layer 3, firewire 4 and waterproof insulation coating 5,3 two sides of passive layer are respectively equipped at least 1 layer of dielectric high resiliency film layer 1, flexible electrode
Layer 2 is arranged between passive layer 3 and dielectric high resiliency film layer 1, and firewire 4 is drawn from flexible electrode layer 2, waterproof insulation coating
5 are arranged in the two sides of 2 thickness direction of dielectric high resiliency film layer 1 and flexible electrode layer.
Further, quantity of the dielectric high resiliency film layer 1 in the every side of passive layer 3 is 2N, and N is just whole greater than 1
Number.
Further, the material of the dielectric high resiliency film layer 1 is VHB4910.
Further, the dielectric high resiliency film layer 1 is pre-stretched before pasting.
Further, material carbon paste, hydrogel, metal nanometer line or the conductive tape of the flexible electrode layer 2.
Further, the passive layer 3 is flexible layer of silica gel 3, preferably PDMS or silicane rubber plate.
Further, sealed silicon is uniformly coated in the edge that the dielectric high resiliency film layer 1 and passive layer 3 engage
Glue.
Further, the dielectric high resiliency film layer 1 with a thickness of 1mm, flexible electrode layer 2 with a thickness of making dielectric height
Elastic film layer 1 is nearly opaque, and the hardness of passive layer 3 is 50 degree, thickness and width 5mm, length 100mm.
The present invention is that the electric drive of the dielectric high resiliency film layer in the present invention such as deforms using ultralow modulus soft material
Characteristic, realize Quan Haishen working range without cavity software artificial-muscle driver.
The present invention is laminated by dielectric high resiliency film layer (DE) and flexible electrode layer, passes through high-voltage electricity driven quilt
The dielectric high resiliency film layer of dynamic layer two sides, realizes the horizontal swing of driver, and the dielectric high resiliency film of 3 bilateral of passive layer
Layer 1 can independently drive, to realize two-way horizontal swing.
Advantageous effects obtained by the present invention are:
1. the present invention using the large deformation characteristic of ultralow modulus soft material, realizes the software artificial intelligence muscle driving without cavity
Device；Pneumatic shell protection and pressure compensator are abandoned, driver is made to complete the self-balancing of pressure；Keep its corresponding static characteristic
It is in required working condition range with dynamic characteristic, makes the software driver that there is the working range of Quan Haishen；
2. the present invention is in addition to a small amount of hard material such as conducting wire, all structures all use flexible material, though by huge external pressure,
Impact, structure will not all be damaged；The stability and corrosion resistance of structural material are extremely excellent, and light inexpensive, can answer in large quantities
For deep sea exploring device, the valuable weight bearing on landing chassis is saved；
3. software driver of the present invention does not have transmission mechanism or a swing mechanism, almost without noise when operation, it is able to satisfy specific
The demand of deep sea equipment；
4. artificial-muscle driver of the invention can isolated operation, series connection and/or in parallel can also be carried out, to realize the work of load
It is dynamic；
5. two-way horizontal swing can be achieved in the present invention, the high-elastic thin-film layers of the dielectric of passive layer two sides can independently be driven；
6. the silica type material that the present invention uses modulus and dielectric film to be more nearly, increases the flexibility of structure, reduce
Interlaminar shear stress at high water pressures.
Detailed description of the invention
In order to obtain above and other advantage and feature of the invention, tool of the invention shown in hereinafter reference will be made to the drawings
Body embodiment carries out more specific description to the present invention outlined above.It should be understood that these attached drawings illustrate only the present invention
Exemplary embodiments, therefore be not construed as limiting the scope of the present invention, by using attached drawing, the present invention will be carried out more
Specific and more detailed description and elaboration；In the accompanying drawings:
Fig. 1 is software artificial-muscle driver schematic diagram of the invention
In attached drawing: 1- dielectric high resiliency film layer, 2- flexible electrode layer, 3- passive layer, 4- firewire, 5- waterproof insulation coating, 6-
Seawater.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications." preceding " in being described below,
" rear ", "left", "right" directional terms are not construed as limitation of the present invention.That defines in the following description is of the invention
Basic principle can be applied to other embodiments, deformation scheme, improvement project, equivalent program and without departing from of the invention
The other technologies scheme of spirit and scope.
A kind of pre-buried connection structure of wind-powered electricity generation composite material blade blade root provided by the invention is made into one with reference to the accompanying drawing
The detailed description of step:
As shown in Figure 1, software artificial-muscle driver of the invention includes dielectric high resiliency film layer 1, flexible electrode layer 2, quilt
Dynamic layer 3, firewire 4 and waterproof insulation coating 5,3 two sides of passive layer are respectively equipped at least 1 layer of dielectric high resiliency film layer 1, flexible electrical
Pole layer 2 is arranged between passive layer 3 and dielectric high resiliency film layer 1, and firewire 4 is drawn from flexible electrode layer 2, and waterproof insulation applies
The two sides of 2 thickness direction of dielectric high resiliency film layer 1 and flexible electrode layer are arranged in layer 5.
The dielectric high resiliency film layer 1 uses dielectric strong flexible polymer (DE), is ultralow modulus soft material,
Under the driving of voltage, it may occur that deformation, the i.e. reduction of thickness, the expansion of area.This is deformed into the eigenstrain of material, without according to
Rely extraneous power load, there is very strong applicability.
The passive layer 3 uses Passive deformation material, it is preferred to use silica gel, dimethyl silicone polymer etc. have and hale
Stretching property and high restoration.
The dielectric high resiliency film layer 1 is bonded with passive layer 3, and dielectric high resiliency film layer 1 can be 2N layers, N
For the positive integer more than or equal to 1, the number of plies is bigger, and the power output of driver is bigger.
The dielectric high resiliency film layer 1 is by the DE film of pre-stretching, and pre-stretching refers to first that dielectric high resiliency is thin
Film material is stretched to certain state, then is adhered on passive layer, and passive layer is made to be rendered as flexion.In the excitation of voltage
Under, dielectric high resiliency film layer can be relaxed, so that passive layer becomes straightened condition.Preferably, using VHB4910
As dielectric high resiliency film layer.
Dielectric high resiliency film layer also referred to as drives film layer, and driving film layer can be divided into two groups, in passive layer the same side
It is one group, when driving a cluster film, cluster film relaxation, structure is to lateral bend, and two cluster film of driven, structure is just
It is able to achieve reciprocal swing.
Sealed silicone is coated uniformly on the edge of each driving film layer and passive layer engagement, acts on to prevent driving film layer
Removing outside generating surface.Sealed silicone is also applied to the interface of conducting wire insertion driving film layer, plays insulating effect.As excellent
Choosing, using sulphurated siliastic as sealed silicone.
The flexible electrode layer can be using materials such as carbon paste, hydrogel, metal nanometer line, conductive tapes.Outermost layer drives
The conducting medium of dynamic film layer is seawater, i.e., without coating additional flexible electrode.
Software artificial-muscle driver of the present invention can with isolated operation, can also freely carry out series connection and/or simultaneously
Connection realizes complicated actuation.
As shown in Figure 1, the driving film layer of 3 top of passive layer is known as A cluster film, the driving film layer below passive layer claims
For B cluster film, when applying voltage, the prestressing force in dielectric high resiliency film layer reduces, specifically, when driving A cluster film,
Stress in A cluster film reduces, and structure is to B cluster film curving；When driving B cluster film, the stress in B cluster film subtracts
Small, structure is to A cluster film curving.
Shown dielectric high resiliency film layer 1 is by uniaxial pre-stretching, stretch ratio 3；Dielectric high resiliency film layer is preferred
VHB4910 (thickness 1mm), the preferred carbon paste of flexible electrode, 50 degree, thickness 5mm, width 50mm of flexible silica gel preferred hardness, length
The PDMS or silicane rubber plate of 100mm.It is evenly coated with carbon paste in the dielectric high resiliency film layer side being pre-stretched, carbon paste
Thickness should be able to make dielectric film nearly opaque, planar dimension 40mm*90mm, and be drawn in end with conducting wire, for connecting
High voltage power supply.Using the side for covering carbon paste as inside, dielectric high resiliency film layer is covered on passive layer 3；It, can be when pasting
Sulphurated siliastic is smeared in interlayer, appropriately to guarantee interlayer tight bond；Pasting operation need to complete in vacuumizing case, with
Air is reduced as far as possible to be bound in interlayer；Be conducive to the homogeneous deformation of soft body structure, reduction stress is concentrated and enhances flexibility
The reliability of electrode；After the completion of pasting, suitable room temperature vulcanized sili cone rubber is smeared at the edge of structure, to prevent driving film
Removing outside generating surface simultaneously plays the role of insulation.
Software artificial-muscle driver in deep-sea proposed by the present invention passes through 100Mpa (being equivalent under ten thousand metres water depth pressure)
Pressure test, and drive in real time, table gives under different voltages, the bending angle of structure.
| 1kV | 2kV | 3kV | 4kV | 5kV | 6kV | 7kV | |
| A driving/degree | 5 | 8 | 14 | 20 | 28 | 40 | 52 |
| B driving/degree | -5 | -10 | -16 | -22 | -28 | -42 | -56 |
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of software artificial-muscle driver, which is characterized in that including dielectric high resiliency film layer (1), flexible electrode layer
(2), passive layer (3) and waterproof insulation coating (5), passive layer (3) two sides are respectively equipped at least 1 layer of dielectric high resiliency
Film layer (1), the flexible electrode layer (2) are arranged between the passive layer (3) and the dielectric high resiliency film layer (1),
The firewire (4) is drawn from the flexible electrode layer (2), and the waterproof insulation coating (5) is arranged in the dielectric high resiliency
The two sides of film layer (1) and the flexible electrode layer (2) thickness direction.
2. a kind of software artificial-muscle driver shown according to claim 1, which is characterized in that the dielectric high resiliency film
Quantity of the layer (1) in the passive layer (3) every side is 2N, and N is the positive integer greater than 1.
3. according to claim 1 or a kind of software artificial-muscle driver shown in 2, which is characterized in that the dielectric high resiliency
The material of film layer (1) is VHB4910.
4. according to claim 1 or a kind of software artificial-muscle driver shown in 2, which is characterized in that the dielectric high resiliency
Film layer (1) is pre-stretched before pasting.
5. according to claim 1 or a kind of software artificial-muscle driver shown in 2, which is characterized in that the flexible electrode layer
(2) material is carbon paste, hydrogel, metal nanometer line or conductive tape.
6. a kind of software artificial-muscle driver shown in any one of -5 claims according to claim 1, which is characterized in that institute
Passive layer (3) are stated as flexible layer of silica gel, preferably PDMS or silicane rubber plate.
7. a kind of software artificial-muscle driver shown according to claim 1, which is characterized in that thin in the dielectric high resiliency
The edge of film layer (1) and the passive layer (3) engagement is uniformly coated with sealed silicone.
8. a kind of software artificial-muscle driver shown according to claim 1, which is characterized in that the dielectric high resiliency film
Layer (1) with a thickness of 1mm, flexible electrode layer (2) with a thickness of keeping dielectric high resiliency film layer (1) nearly opaque, passive layer
(3) hardness is 50 degree, thickness and width 5mm, length 100mm.
9. according to claim 1-2, a kind of software artificial-muscle driver shown in any one of 6-8 claim, feature exist
In, it further include firewire (4), the firewire (4) extraction from the flexible electrode layer (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811418598.0A CN109572966A (en) | 2018-11-26 | 2018-11-26 | A kind of software artificial-muscle driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811418598.0A CN109572966A (en) | 2018-11-26 | 2018-11-26 | A kind of software artificial-muscle driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109572966A true CN109572966A (en) | 2019-04-05 |
Family
ID=65924097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811418598.0A Pending CN109572966A (en) | 2018-11-26 | 2018-11-26 | A kind of software artificial-muscle driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109572966A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757434A (en) * | 2019-11-06 | 2020-02-07 | 中国科学院宁波材料技术与工程研究所 | Artificial muscle based on dielectric elastomer and intelligent fluid with adjustable rigidity and manufacturing method thereof |
| CN111390895A (en) * | 2020-04-22 | 2020-07-10 | 浙江大学 | Dielectric elastomer spring structure artificial muscle module and manufacturing method thereof |
| CN113427494A (en) * | 2021-07-02 | 2021-09-24 | 西安工业大学 | Bionic water snake-shaped robot based on dielectric elastomer |
| CN113443037A (en) * | 2021-06-28 | 2021-09-28 | 山东大学 | Software bionic robot and software crawler |
| CN113910212A (en) * | 2021-10-08 | 2022-01-11 | 北京化工大学 | Artificial muscle design and preparation method based on ultrasonic-assisted forced infiltration |
| CN114475986A (en) * | 2022-01-18 | 2022-05-13 | 之江实验室 | Deep-sea soft robotic fish propelled by tail fin |
| CN114474029A (en) * | 2022-02-16 | 2022-05-13 | 之江实验室 | Thermal response artificial muscle capable of being driven at high frequency |
| CN114701632A (en) * | 2022-04-19 | 2022-07-05 | 吉林大学 | Bionic cuttlefish underwater propeller |
| US11592037B1 (en) | 2021-12-08 | 2023-02-28 | Toyota Motor Engineering & Manufacturing North America, Inc. | Hybrid actuation devices including alignment aids |
| CN115890643A (en) * | 2022-12-15 | 2023-04-04 | 之江实验室 | Electrically-driven artificial muscle fiber with bidirectional linear strain and preparation method thereof |
| US12059802B2 (en) | 2022-12-15 | 2024-08-13 | Zhejiang Lab | Electrically-actuated artificial muscle fiber with bidirectional linear strain and preparation method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012019024A1 (en) * | 2012-09-26 | 2014-03-27 | Bayerische Motoren Werke Aktiengesellschaft | Geometrically deformable guiding device for fluid streams, has elastomeric actuator with upper- and lower sides, while layer thickness is extended in z-direction, where length of elastomeric actuator is changed by applying electric voltage |
| CN205059975U (en) * | 2015-08-31 | 2016-03-02 | 浙江大学 | Aquatic robot |
| CN106298207A (en) * | 2015-06-25 | 2017-01-04 | 威华微机电股份有限公司 | Passive element with terminal electrode and mass production method thereof |
| CN206456529U (en) * | 2016-11-28 | 2017-09-01 | 浙江大学 | A kind of sink-float device based on intelligent soft material |
| CN107276450A (en) * | 2017-06-07 | 2017-10-20 | 南京航空航天大学 | Indent waveform negative poisson's ratio structure based on dielectric type electroactive polymer |
| CN206734590U (en) * | 2017-03-07 | 2017-12-12 | 浙江大学 | A kind of modular event driven device based on dielectric elastomer |
| CN207875951U (en) * | 2017-10-27 | 2018-09-18 | 浙江大学 | Pressure adaptive software intelligent drive device |
-
2018
- 2018-11-26 CN CN201811418598.0A patent/CN109572966A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012019024A1 (en) * | 2012-09-26 | 2014-03-27 | Bayerische Motoren Werke Aktiengesellschaft | Geometrically deformable guiding device for fluid streams, has elastomeric actuator with upper- and lower sides, while layer thickness is extended in z-direction, where length of elastomeric actuator is changed by applying electric voltage |
| CN106298207A (en) * | 2015-06-25 | 2017-01-04 | 威华微机电股份有限公司 | Passive element with terminal electrode and mass production method thereof |
| CN205059975U (en) * | 2015-08-31 | 2016-03-02 | 浙江大学 | Aquatic robot |
| CN206456529U (en) * | 2016-11-28 | 2017-09-01 | 浙江大学 | A kind of sink-float device based on intelligent soft material |
| CN206734590U (en) * | 2017-03-07 | 2017-12-12 | 浙江大学 | A kind of modular event driven device based on dielectric elastomer |
| CN107276450A (en) * | 2017-06-07 | 2017-10-20 | 南京航空航天大学 | Indent waveform negative poisson's ratio structure based on dielectric type electroactive polymer |
| CN207875951U (en) * | 2017-10-27 | 2018-09-18 | 浙江大学 | Pressure adaptive software intelligent drive device |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757434B (en) * | 2019-11-06 | 2022-06-24 | 中国科学院宁波材料技术与工程研究所 | Artificial muscle based on dielectric elastomer and intelligent fluid with adjustable rigidity and manufacturing method thereof |
| CN110757434A (en) * | 2019-11-06 | 2020-02-07 | 中国科学院宁波材料技术与工程研究所 | Artificial muscle based on dielectric elastomer and intelligent fluid with adjustable rigidity and manufacturing method thereof |
| CN111390895A (en) * | 2020-04-22 | 2020-07-10 | 浙江大学 | Dielectric elastomer spring structure artificial muscle module and manufacturing method thereof |
| CN113443037A (en) * | 2021-06-28 | 2021-09-28 | 山东大学 | Software bionic robot and software crawler |
| CN113443037B (en) * | 2021-06-28 | 2022-08-02 | 山东大学 | Software bionic robot and software crawler |
| CN113427494A (en) * | 2021-07-02 | 2021-09-24 | 西安工业大学 | Bionic water snake-shaped robot based on dielectric elastomer |
| CN113910212A (en) * | 2021-10-08 | 2022-01-11 | 北京化工大学 | Artificial muscle design and preparation method based on ultrasonic-assisted forced infiltration |
| US11592037B1 (en) | 2021-12-08 | 2023-02-28 | Toyota Motor Engineering & Manufacturing North America, Inc. | Hybrid actuation devices including alignment aids |
| US11927206B2 (en) | 2021-12-08 | 2024-03-12 | Toyota Motor Engineering & Manufacturing North America, Inc. | Hybrid actuation devices including alignment aids |
| CN114475986A (en) * | 2022-01-18 | 2022-05-13 | 之江实验室 | Deep-sea soft robotic fish propelled by tail fin |
| CN114474029B (en) * | 2022-02-16 | 2023-09-01 | 之江实验室 | High-frequency driven thermal response artificial muscle |
| CN114474029A (en) * | 2022-02-16 | 2022-05-13 | 之江实验室 | Thermal response artificial muscle capable of being driven at high frequency |
| CN114701632A (en) * | 2022-04-19 | 2022-07-05 | 吉林大学 | Bionic cuttlefish underwater propeller |
| CN115890643A (en) * | 2022-12-15 | 2023-04-04 | 之江实验室 | Electrically-driven artificial muscle fiber with bidirectional linear strain and preparation method thereof |
| CN115890643B (en) * | 2022-12-15 | 2023-09-05 | 之江实验室 | Electric-driven artificial muscle fiber with bidirectional linear strain and preparation method thereof |
| US12059802B2 (en) | 2022-12-15 | 2024-08-13 | Zhejiang Lab | Electrically-actuated artificial muscle fiber with bidirectional linear strain and preparation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109572966A (en) | A kind of software artificial-muscle driver | |
| CN110757434B (en) | Artificial muscle based on dielectric elastomer and intelligent fluid with adjustable rigidity and manufacturing method thereof | |
| CN100581039C (en) | Gas-filled type dielectric elastomer hemi-spherical driver | |
| WO2021143085A1 (en) | Flexible electrohydrodynamics driver | |
| CN107493035A (en) | Graphene electrodes dielectric elastomer driver | |
| CN104309714B (en) | The flexible intelligent machine of creeping | |
| CN207382213U (en) | Graphene electrodes dielectric elastomer driver | |
| CN102551918B (en) | Electroshock extension artificial muscle movement device | |
| US20150132154A1 (en) | Energy harvesting roadway panel | |
| KR101529814B1 (en) | Hybrid electric generating elements | |
| US11108343B2 (en) | Flexible and soft smart driving device | |
| CN109623781B (en) | Jumping robot based on dielectric elastomer drive | |
| CN106985988A (en) | A kind of modular event driven device based on dielectric elastomer | |
| CN103192383B (en) | The robot arm device of a kind of artificial-muscle and driving thereof | |
| CN207875951U (en) | Pressure adaptive software intelligent drive device | |
| CN206734590U (en) | A kind of modular event driven device based on dielectric elastomer | |
| CN110394827A (en) | A kind of mechanical finger design method of multi-electrode driving | |
| CN112171639B (en) | Be applied to deep sea's software artificial muscle driver | |
| JP4383505B1 (en) | Electric field responsive polymer with improved power generation efficiency and durability | |
| CN109239597A (en) | One kind stacking type dielectric elastomer generator experimental provision | |
| CN111262474B (en) | Driving force calculation method of plane hydraulic amplification self-healing electrostatic actuator | |
| CN105099262A (en) | Inflatable deformable body based on dielectric elastomer | |
| Calvert et al. | Electrically stimulated bilayer hydrogels as muscles | |
| CN101252325A (en) | Roll-shaped driver | |
| Chiba et al. | Examination of factors to improve the performance of dielectric elastomer transducers and their applications |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190405 |