CN114872810A - Dielectric elastomer driven space operation software climbing robot - Google Patents
Dielectric elastomer driven space operation software climbing robot Download PDFInfo
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- CN114872810A CN114872810A CN202210589754.XA CN202210589754A CN114872810A CN 114872810 A CN114872810 A CN 114872810A CN 202210589754 A CN202210589754 A CN 202210589754A CN 114872810 A CN114872810 A CN 114872810A
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- 229920002595 Dielectric elastomer Polymers 0.000 title claims abstract description 130
- 230000009194 climbing Effects 0.000 title claims abstract description 32
- 230000009193 crawling Effects 0.000 claims abstract description 35
- 230000003014 reinforcing effect Effects 0.000 claims description 28
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 14
- 229910052782 aluminium Inorganic materials 0.000 claims description 14
- 239000011888 foil Substances 0.000 claims description 14
- 239000000178 monomer Substances 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 5
- 229920000058 polyacrylate Polymers 0.000 claims description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 239000005030 aluminium foil Substances 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 238000003795 desorption Methods 0.000 abstract description 14
- 230000004044 response Effects 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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- 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
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The utility model provides a dielectric elastomer drive space operation software climbing robot, includes dielectric elastomer crawling driver, drive arrangement and two foot subassemblies that are used for adsorbing the wall body, and two foot subassemblies are connected the both ends of dielectric elastomer crawling driver respectively, and drive arrangement connects the flexible of dielectric elastomer crawling driver and control dielectric elastomer crawling driver, and drive arrangement includes miniature power and miniature high-voltage amplifier. The invention can control the expansion of the dielectric elastomer crawling driver through the driving device, and the expansion of the dielectric elastomer crawling driver is matched with the desorption of two foot components on a wall body, so that the whole robot can climb on the wall body, the expansion of the dielectric elastomer crawling driver can be realized only by switching on or off the power supply, the response is fast, the operation and the control are easy, and the invention belongs to the field of climbing robots.
Description
Technical Field
The invention relates to the field of climbing robots, in particular to a dielectric elastomer driven space operation software climbing robot.
Background
The safety detection of the space station is difficult to be well completed by only an astronaut, and the space station needs the assistance of a space robot. The existing space robot has the defects of being heavy, poor in flexibility, difficult to adapt to unknown complex and variable environments and the like, and the operation requirement of a narrow space in a cabin is difficult to meet. The soft robot developed in recent years has the advantages of strong deformability, flexibility, light weight, small volume and the like, and has great application potential in the aspect.
Fluid-driven (including gas and liquid) soft robots are the mainstream at present due to easy implementation, but a series of problems such as close-distance control, high sealing performance requirement, heavy weight caused by carrying of a pneumatic pump and the like also exist. In addition, the physical mechanism of adhesion and desorption between the current soft robot and the medium is very important. Electromagnetism and negative pressure are two common ways to realize the mechanism of adhering and desorbing the soft climbing robot, but some problems still exist. For example, the electromagnetic adsorption mode has a complex structure and a large volume; and the dependence of negative pressure adsorption on the smoothness of the medium surface is high. Therefore, new physical mechanisms for adhesion and desorption need to be developed to meet the requirements of the space operation soft climbing robot.
The dielectric elastomer is a novel material, is an electro-active polymer which can be deformed by applying voltage, and the current driver developed based on the material has the advantages of fast response, large strain, high energy density, high efficiency and the like, and has great development potential in the field of soft robots.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: provides a dielectric elastomer driven space operation soft climbing robot with quick response and easy operation.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a dielectric elastomer drive space operation software climbing robot, includes that dielectric elastomer crawls driver, drive arrangement and two foot subassemblies that are used for adsorbing the wall body, and two foot subassemblies are connected dielectric elastomer respectively and are crawled the both ends of driver, and drive arrangement connects dielectric elastomer crawl the driver and control dielectric elastomer and crawl the flexible of driver, and drive arrangement includes miniature power and miniature high-voltage amplifier.
After adopting this kind of structure, it is flexible to control dielectric elastomer creep driver through drive arrangement, attaches with two foot subassemblies and cooperates to the desorption of wall body, can make whole robot scramble on the wall body, and dielectric elastomer creep driver's flexible only can be realized through the break-make electricity, and the response is fast, easily controls.
As a preference, the dielectric elastomer crawling driver comprises a flexible frame, a first dielectric elastomer film and a first aluminum foil electrode; the flexible frame is flaky flexible structure, first dielectric elastomer film includes a plurality of independent first film sections, a plurality of first film sections are arranged in proper order along flexible frame's length direction, two adjacent first film sections are pasted respectively in flexible frame's front and back, first film section is pasted in flexible frame's front and back after prestretching, the surface paste of first film section has first flexible electrode, first flexible electrode is through first aluminium foil electrode connection drive arrangement.
Preferably, the number of the first flexible electrodes is two, the two first flexible electrodes are respectively attached to the surfaces of the first dielectric elastomer films on the front surface and the back surface of the flexible frame, and the two first flexible electrodes are connected in parallel and then connected with the driving device through the first aluminum foil electrode.
Preferably, the dielectric elastomer crawling driver further comprises a plurality of reinforcing ribs, the reinforcing ribs are of symmetrical sheet structures, the reinforcing ribs are provided with avoiding holes, and the plurality of reinforcing ribs are correspondingly attached to the surfaces of the plurality of first film sections one by one; the first flexible electrode comprises a plurality of main body parts which are connected in sequence, the adjacent main body parts are connected through a strip-shaped electrode connecting part, and the positions of the main body parts correspond to the positions of the avoidance holes respectively.
Preferably, the reinforcing rib is further provided with a strip-shaped gap, the strip-shaped gap extends from one side edge of the reinforcing rib to the other side edge of the reinforcing rib and penetrates through the avoiding hole, so that the reinforcing rib is divided into two independent parts by the strip-shaped gap; the flexible frame is provided with a plurality of oval through holes which are arranged along the length direction, the shape of the main body part of the first flexible electrode is the same as that of the through holes, and the positions of the main body parts respectively correspond to the positions of the through holes.
Preferably, the foot component comprises a base and folding dielectric elastomer drivers, one side surface of the base is connected with the folding dielectric elastomer drivers, the other side surface of the base is provided with a microstructure, and the two folding dielectric elastomer drivers are respectively connected with two ends of the dielectric elastomer crawling driver; the microstructure is composed of a plurality of microstructure monomers, one end of each microstructure monomer is fixed on the other side surface of the base, and the other end of each microstructure monomer is trumpet-shaped.
Preferably, the foldable dielectric elastomer driver comprises a rectangular second dielectric elastomer film and a second flexible electrode, the second flexible electrode is laid on the surface of the second dielectric elastomer film, two ends of the second flexible electrode are connected with a second aluminum foil electrode, the second flexible electrode is connected with the driving device through the second aluminum foil electrode, and the second dielectric elastomer film is folded for multiple times to form a cuboid structure.
Preferably, the first flexible electrode and the second flexible electrode are conductive carbon paste.
Preferably, the material of the microstructure is a photosensitive resin.
Preferably, the first dielectric elastomer film and the second dielectric elastomer film are both made of polyacrylate, and the reinforcing ribs and the flexible frame are made of PET.
The working principle of the dielectric elastomer driven space operation soft climbing robot is as follows:
(1) adhering and desorbing the robot foot assembly: normal force is exerted to the base when foldable dielectric elastomer driver circular telegram and outage, triggers a large amount of micro-structure monomers on the base and produces adhesion and desorption effect, and then realizes the robot climbing. The two folding type dielectric elastomer drivers can realize the switching of two modes of adhesion and desorption of double feet under a periodic signal.
(2) Crawling of the robot: elastic potential energy is reserved in the prestretched dielectric elastomer film, the prestretched dielectric elastomer film is bonded with the flexible frame and then deforms into a wavy shape, and the dielectric elastomer crawling driver can stretch out and draw back the flexible frame under the driving of voltage, so that the crawling of the robot is realized.
In summary, the present invention has the following advantages: the dielectric elastomer drives the space operation soft climbing robot to well realize the motion of the robot, and compared with fluid driving, the dielectric elastomer has the advantages of fast response, large strain, high energy density, high efficiency and the like; the adhesion and desorption of the climbing robot are realized through the bionic foot surface microstructure, and the bionic adsorption mode has stronger adaptability compared with two common modes of realizing the adhesion and desorption mechanism of the soft climbing robot, namely electromagnetism and negative pressure; the robot is provided with the micro voltage and the micro high-voltage amplifier, so that high voltage can be provided, cordless dragging can be realized, and further, the possibility of remote control is provided.
Drawings
Fig. 1 is a perspective view of a dielectric elastomer driven space operation soft climbing robot.
FIG. 2 is an exploded view of a dielectric elastomer creeper driver.
Fig. 3 is an assembly view of a dielectric elastomer creep drive.
Fig. 4 is a diagram comparing the state of the folded dielectric elastomer driver before folding, before energizing, and after energizing.
Fig. 5 is a perspective view of the base.
Fig. 6 is a perspective view of another angle of the base.
Fig. 7 is a schematic structural diagram of a microstructure monomer.
The driver comprises a dielectric elastomer crawling driver 1, a miniature power supply 2, a miniature high-voltage amplifier 3, a first folding type dielectric elastomer driver 4, a first base 5, a second base 6, a second folding type dielectric elastomer driver 7, reinforcing ribs 8, a first dielectric elastomer film 9, a flexible frame 10, a first flexible electrode 11, a first aluminum foil electrode 12, a second dielectric elastomer film 13, a second flexible electrode 14, a second aluminum foil electrode 15, a microstructure 16 and a base 17.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
Example one
As shown in fig. 1, a dielectric elastomer driven space operation software climbing robot includes a dielectric elastomer crawling driver, a driving device and two foot components for adsorbing a wall, wherein the two foot components are respectively connected with two ends of the dielectric elastomer crawling driver, the driving device is connected with the dielectric elastomer crawling driver and controls the stretching of the dielectric elastomer crawling driver, and the driving device includes a micro power supply and a micro high-voltage amplifier.
Can control dielectric elastomer driver of crawling through drive arrangement and stretch out and draw back, adsorb with the desorption of two foot subassemblies to the wall body and cooperate, can make whole robot scramble on the wall body, the flexible of dielectric elastomer driver of crawling only can realize through the break-make electricity, and the response is fast, easily controls.
As shown in fig. 2 to 3, the dielectric elastomer crawling driver comprises a flexible frame, a first dielectric elastomer film and a first aluminum foil electrode; the flexible frame is flaky flexible structure, first dielectric elastomer film includes a plurality of independent first film sections, a plurality of first film sections are arranged in proper order along flexible frame's length direction, two adjacent first film sections are pasted respectively in flexible frame's front and back, first film section is pasted in flexible frame's front and back after prestretching, the surface paste of first film section has first flexible electrode, first flexible electrode is through first aluminium foil electrode connection drive arrangement.
The first dielectric elastomer film is regulated and controlled to be powered on or powered off through the driving device, so that the dielectric elastomer film generates elastic deformation, and the flexible frame can be controlled to be unfolded or retracted, so that the foot component can be matched to climb on a wall body. The first dielectric elastomer film is attached to the flexible frame after being pre-stretched, so that the voltage of electrostriction can be reduced, and the stability of the pre-stretched dielectric elastomer film is also obviously improved.
The number of the first flexible electrodes is two, the two first flexible electrodes are respectively attached to the surfaces of the first dielectric elastomer films on the front face and the back face of the flexible frame, and the two first flexible electrodes are connected in parallel and then connected with the driving device through the first aluminum foil electrode.
The dielectric elastomer crawling driver also comprises a plurality of reinforcing ribs, the reinforcing ribs are of symmetrical sheet structures, the reinforcing ribs are provided with avoiding holes, and the plurality of reinforcing ribs are correspondingly attached to the surfaces of the plurality of first film sections one by one; the first flexible electrode comprises a plurality of main body parts which are connected in sequence, the adjacent main body parts are connected through a strip-shaped electrode connecting part, and the positions of the main body parts correspond to the positions of the avoidance holes respectively.
The reinforcing ribs are also provided with strip-shaped gaps, and the strip-shaped gaps extend from one side edge of the reinforcing ribs to the other side edge of the reinforcing ribs and penetrate through the avoiding holes, so that the reinforcing ribs are divided into two independent parts by the strip-shaped gaps; the flexible frame is provided with a plurality of oval through holes which are arranged along the length direction, the shape of the main body part of the first flexible electrode is the same as that of the through holes, and the positions of the main body parts respectively correspond to the positions of the through holes.
The long axis direction of the through hole is the same as the length direction of the flexible frame, the avoiding hole is rectangular, and the length and the width of the avoiding hole are respectively larger than the long axis and the short axis of the through hole.
When drive arrangement when the circular telegram to first dielectric elastomer film, the dielectric elastomer driver of crawling expandes, and the foot subassembly in front is to the wall desorption this moment in control, then can drive the foot subassembly in front and move forward, and when drive arrangement was to the outage of first dielectric elastomer film, the dielectric elastomer driver of crawling contracts, and the middle part subassembly at rear was to the wall desorption this moment in control, then can drive the foot subassembly in rear and move forward. Thereby realizing climbing on the wall.
As shown in fig. 4 to 7, the foot component includes a base and folding dielectric elastomer drivers, one side surface of the base is connected to the folding dielectric elastomer drivers, the other side surface of the base is provided with microstructures, and the two folding dielectric elastomer drivers are respectively connected to two ends of the dielectric elastomer crawling driver; the microstructure is composed of a plurality of microstructure monomers, one end of each microstructure monomer is fixed on the other side surface of the base, and the other end of each microstructure monomer is trumpet-shaped. The height of the microstructure monomer is 600-700 microns, and the maximum radius is 100-150 microns.
The foldable dielectric elastomer driver comprises a rectangular second dielectric elastomer film and a second flexible electrode, the second flexible electrode is paved on the surface of the second dielectric elastomer film, the two ends of the second flexible electrode are connected with second aluminum foil electrodes, the second flexible electrode is connected with a driving device through the second aluminum foil electrodes, and the second dielectric elastomer film is folded for multiple times to form a cuboid structure.
The driving device controls the on-off of the folding dielectric elastomer driver so as to control the extension and contraction of the driver.
Before use, the folding dielectric elastomer driver is in a power-off state, and the base is adhered to a wall surface through the microstructures on the surface of the base. When the foldable dielectric elastomer driver is powered on, the foldable dielectric elastomer driver contracts to drive the base to move in the direction away from the wall body, so that the microstructures are desorbed. When the folded dielectric elastomer driver is de-energized, the folded dielectric elastomer driver extends, and a normal force is applied to the base toward the wall surface during the extension process, thereby causing the microstructure of the base to re-adhere to the wall surface.
The two foot components are respectively a first foot component and a second foot component, the folding dielectric elastomer drivers are respectively a first folding dielectric elastomer driver and a second folding dielectric elastomer driver, and the bases are respectively a first base and a second base.
The first flexible electrode and the second flexible electrode are made of conductive carbon paste.
The material of the microstructure is photosensitive resin.
The first dielectric elastomer film and the second dielectric elastomer film are made of polyacrylate, and the reinforcing ribs and the flexible frame are made of PET.
The dielectric elastomer film may be a commercially available 3M VHB tape made from polyacrylate or other products.
The first flexible electrode is adhered to the surface of the first dielectric elastomer film in a smearing mode. The second flexible electrode is adhered to the surface of the second dielectric elastomer film in a smearing mode.
The dielectric elastomer driven space operation software climbing robot has the following use process: under the action of the dielectric elastomer crawling driver, the robot can stretch and recover; the foldable dielectric elastomer driver contracts in the direction vertical to the medium after being powered on, the feet can be temporarily in a desorption state at the moment, the foldable dielectric elastomer driver stretches in the direction vertical to the medium after being powered off and returns to an initial state, the feet can be temporarily in an adhesion state at the moment, and the state switching of the desorption state of one foot and the adhesion state of the other foot can be realized under the action of periodic signals.
The climbing process of the dielectric elastomer driven space operation software climbing robot can be divided into five states: the first state represents that the first base and the second base of the robot are both adhered to the medium; the second state is represented as the robot first base desorption and the second base adhesion, and simultaneously the dielectric elastomer crawling driver drives the first middle component to climb upwards; the third state represents that the robot is adhered to the first base and desorbed from the second base; the fourth state is that the robot is adhered to the first base and desorbed from the second base, and then the dielectric elastomer crawling driver is restored to enable the foot component to climb upwards; the fifth state represents that the first base and the second base of the robot are both adhered to the medium, and then the first state is returned; this is one movement cycle. The climbing movement of the robot can be realized under the continuous switching of the five states.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a dielectric elastomer drive space operation software climbing robot which characterized in that: including dielectric elastomer driver, drive arrangement and two foot subassemblies that are used for adsorbing the wall body of crawling, the both ends of dielectric elastomer driver of crawling are connected respectively to two foot subassemblies, and drive arrangement connects the flexible of dielectric elastomer driver of crawling and control dielectric elastomer driver of crawling, and drive arrangement includes miniature power and miniature high-voltage amplifier.
2. The dielectric elastomer driven space task software climbing robot as recited in claim 1, wherein: the dielectric elastomer crawling driver comprises a flexible frame, a first dielectric elastomer film and a first aluminum foil electrode;
the flexible frame is flaky flexible structure, first dielectric elastomer film includes a plurality of independent first film sections, a plurality of first film sections are arranged in proper order along flexible frame's length direction, two adjacent first film sections are pasted respectively in flexible frame's front and back, first film section is pasted in flexible frame's front and back after prestretching, the surface paste of first film section has first flexible electrode, first flexible electrode is through first aluminium foil electrode connection drive arrangement.
3. The dielectric elastomer driven space task software climbing robot as recited in claim 2, wherein: the number of the first flexible electrodes is two, the two first flexible electrodes are respectively attached to the surfaces of the first dielectric elastomer films on the front surface and the back surface of the flexible frame, and the two first flexible electrodes are connected in parallel and then connected with the driving device through the first aluminum foil electrode.
4. The dielectric elastomer driven space task software climbing robot as recited in claim 2, wherein: the dielectric elastomer crawling driver also comprises a plurality of reinforcing ribs, the reinforcing ribs are of symmetrical sheet structures, the reinforcing ribs are provided with avoiding holes, and the plurality of reinforcing ribs are correspondingly attached to the surfaces of the plurality of first film sections one by one; the first flexible electrode comprises a plurality of main body parts which are connected in sequence, the adjacent main body parts are connected through a strip-shaped electrode connecting part, and the positions of the main body parts correspond to the positions of the avoidance holes respectively.
5. The dielectric elastomer driven space task software climbing robot as claimed in claim 4, wherein: the reinforcing ribs are also provided with strip-shaped gaps, and the strip-shaped gaps extend from one side edge of the reinforcing ribs to the other side edge of the reinforcing ribs and penetrate through the avoiding holes, so that the reinforcing ribs are divided into two independent parts by the strip-shaped gaps;
the flexible frame is provided with a plurality of oval through holes which are arranged along the length direction, the shape of the main body part of the first flexible electrode is the same as that of the through holes, and the positions of the main body parts respectively correspond to the positions of the through holes.
6. The dielectric elastomer driven space task software climbing robot as recited in claim 2, wherein: the foot component comprises a base and folding dielectric elastomer drivers, wherein one side surface of the base is connected with the folding dielectric elastomer drivers, the other side surface of the base is provided with a microstructure, and the two folding dielectric elastomer drivers are respectively connected with two ends of the dielectric elastomer crawling drivers;
the microstructure is composed of a plurality of microstructure monomers, one end of each microstructure monomer is fixed on the other side surface of the base, and the other end of each microstructure monomer is trumpet-shaped.
7. The dielectric elastomer driven space task software climbing robot as recited in claim 2, wherein: the foldable dielectric elastomer driver comprises a rectangular second dielectric elastomer film and a second flexible electrode, the second flexible electrode is paved on the surface of the second dielectric elastomer film, the two ends of the second flexible electrode are connected with second aluminum foil electrodes, the second flexible electrode is connected with a driving device through the second aluminum foil electrodes, and the second dielectric elastomer film is folded for multiple times to form a cuboid structure.
8. The dielectric elastomer driven space task software climbing robot of claim 7, wherein: the first flexible electrode and the second flexible electrode are made of conductive carbon paste.
9. The dielectric elastomer driven space task software climbing robot as recited in claim 6, wherein: the material of the microstructure is photosensitive resin.
10. The dielectric elastomer driven space task software climbing robot of claim 7, wherein: the first dielectric elastomer film and the second dielectric elastomer film are made of polyacrylate, and the reinforcing ribs and the flexible frame are made of PET.
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| CN202210589754.XA CN114872810A (en) | 2022-05-27 | 2022-05-27 | Dielectric elastomer driven space operation software climbing robot |
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| CN202210589754.XA CN114872810A (en) | 2022-05-27 | 2022-05-27 | Dielectric elastomer driven space operation software climbing robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030218403A1 (en) * | 2002-05-10 | 2003-11-27 | Massachusetts Institute Of Technology | Dielectric elastomer actuated systems and methods |
| CN104309714A (en) * | 2014-01-28 | 2015-01-28 | 浙江大学 | Intelligent flexible crawling machine |
| CN112937708A (en) * | 2021-01-28 | 2021-06-11 | 合肥艾创微电子科技有限公司 | Crawling robot based on intelligent material |
| US20220069737A1 (en) * | 2018-11-29 | 2022-03-03 | The Trustees Of Dartmouth College | Electrostatic-actuator-based, tunable, soft robots |
| CN114274162A (en) * | 2022-01-10 | 2022-04-05 | 华中科技大学 | Dielectric elastomer driver, flexible foot and starfish-like soft robot |
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2022
- 2022-05-27 CN CN202210589754.XA patent/CN114872810A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030218403A1 (en) * | 2002-05-10 | 2003-11-27 | Massachusetts Institute Of Technology | Dielectric elastomer actuated systems and methods |
| CN104309714A (en) * | 2014-01-28 | 2015-01-28 | 浙江大学 | Intelligent flexible crawling machine |
| US20220069737A1 (en) * | 2018-11-29 | 2022-03-03 | The Trustees Of Dartmouth College | Electrostatic-actuator-based, tunable, soft robots |
| CN112937708A (en) * | 2021-01-28 | 2021-06-11 | 合肥艾创微电子科技有限公司 | Crawling robot based on intelligent material |
| CN114274162A (en) * | 2022-01-10 | 2022-04-05 | 华中科技大学 | Dielectric elastomer driver, flexible foot and starfish-like soft robot |
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Application publication date: 20220809 |