CN109623781B - 一种基于介电弹性体驱动的跳跃机器人 - Google Patents
一种基于介电弹性体驱动的跳跃机器人 Download PDFInfo
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- CN109623781B CN109623781B CN201811443219.3A CN201811443219A CN109623781B CN 109623781 B CN109623781 B CN 109623781B CN 201811443219 A CN201811443219 A CN 201811443219A CN 109623781 B CN109623781 B CN 109623781B
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- connecting plate
- upper limb
- flexible electrode
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- 229920002595 Dielectric elastomer Polymers 0.000 title claims abstract description 32
- 230000009191 jumping Effects 0.000 title abstract description 6
- 210000001364 upper extremity Anatomy 0.000 claims description 79
- 210000003141 lower extremity Anatomy 0.000 claims description 55
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims description 40
- 239000011159 matrix material Substances 0.000 claims description 19
- 229920003229 poly(methyl methacrylate) Polymers 0.000 claims description 13
- 239000004926 polymethyl methacrylate Substances 0.000 claims description 13
- 239000000758 substrate Substances 0.000 claims description 10
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 239000011888 foil Substances 0.000 claims description 3
- 229910002804 graphite Inorganic materials 0.000 claims description 3
- 239000010439 graphite Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 241000237852 Mollusca Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 229920001746 electroactive polymer Polymers 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/0075—Electrical details, e.g. drive or control circuits or methods
- H02N2/0085—Leads; Wiring arrangements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201811443219.3A CN109623781B (zh) | 2018-11-29 | 2018-11-29 | 一种基于介电弹性体驱动的跳跃机器人 |
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CN201811443219.3A CN109623781B (zh) | 2018-11-29 | 2018-11-29 | 一种基于介电弹性体驱动的跳跃机器人 |
Publications (2)
Publication Number | Publication Date |
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CN109623781A CN109623781A (zh) | 2019-04-16 |
CN109623781B true CN109623781B (zh) | 2021-07-20 |
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CN201811443219.3A Active CN109623781B (zh) | 2018-11-29 | 2018-11-29 | 一种基于介电弹性体驱动的跳跃机器人 |
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CN (1) | CN109623781B (zh) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110816706B (zh) * | 2019-11-18 | 2020-11-17 | 安徽建筑大学 | 一种基于主动材料驱动的可连续跳跃机器人 |
CN112550515B (zh) * | 2020-12-29 | 2022-02-25 | 清华大学深圳国际研究生院 | 一种可控跳跃方向的微型跳跃机器人 |
CN113635315A (zh) * | 2021-07-07 | 2021-11-12 | 重庆大学 | 一种高度集成的全向跳跃软体机器人 |
CN114362587B (zh) * | 2021-12-02 | 2024-06-21 | 中国科学院深圳先进技术研究院 | 一种柔性驱动装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6484068B1 (en) * | 2001-07-24 | 2002-11-19 | Sony Corporation | Robot apparatus and method for controlling jumping of robot device |
CN101244729A (zh) * | 2008-03-26 | 2008-08-20 | 西北工业大学 | 仿袋鼠腿形跳跃机器人结构 |
CN103935417A (zh) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | 带有脊柱关节和弹性腿的仿生四足机器人 |
CN106737578A (zh) * | 2016-12-15 | 2017-05-31 | 山东大学 | 一种四足机器人 |
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2018
- 2018-11-29 CN CN201811443219.3A patent/CN109623781B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6484068B1 (en) * | 2001-07-24 | 2002-11-19 | Sony Corporation | Robot apparatus and method for controlling jumping of robot device |
CN101244729A (zh) * | 2008-03-26 | 2008-08-20 | 西北工业大学 | 仿袋鼠腿形跳跃机器人结构 |
CN103935417A (zh) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | 带有脊柱关节和弹性腿的仿生四足机器人 |
CN106737578A (zh) * | 2016-12-15 | 2017-05-31 | 山东大学 | 一种四足机器人 |
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Inventor after: Lv Yanjun Inventor after: Sun Wenjie Inventor after: Guo Cheng Inventor after: He Jingli Inventor after: Hou Yutao Inventor after: Du Yafeng Inventor before: Lv Yanjun Inventor before: Sun Wenjie Inventor before: Guo Cheng Inventor before: He Jingli Inventor before: Hou Ningtao Inventor before: Du Yafeng |
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