CN115533885A - 具有真空耦合的电极绝缘体的人造肌肉及其制造方法 - Google Patents

具有真空耦合的电极绝缘体的人造肌肉及其制造方法 Download PDF

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Publication number
CN115533885A
CN115533885A CN202210728184.8A CN202210728184A CN115533885A CN 115533885 A CN115533885 A CN 115533885A CN 202210728184 A CN202210728184 A CN 202210728184A CN 115533885 A CN115533885 A CN 115533885A
Authority
CN
China
Prior art keywords
electrode
insulator
artificial muscle
vacuum bag
polymer
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
Application number
CN202210728184.8A
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English (en)
Chinese (zh)
Inventor
M·P·罗威
弦田辽平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Engineering and Manufacturing North America Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Toyota Motor Engineering and Manufacturing North America Inc filed Critical Toyota Motor Engineering and Manufacturing North America Inc
Publication of CN115533885A publication Critical patent/CN115533885A/zh
Pending legal-status Critical Current

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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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Program-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/007—Means or methods for designing or fabricating manipulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/008—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for characterised by the actuating element
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/029—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for characterised by the material or the manufacturing process, e.g. the assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/061—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element
    • F03G7/0616—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element characterised by the material or the manufacturing process, e.g. the assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/062—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the activation arrangement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/064—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by its use
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/06—Use of special fluids, e.g. liquid metal; Special adaptations of fluid-pressure systems, or control of elements therefor, to the use of such fluids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/06—Use of special fluids, e.g. liquid metal; Special adaptations of fluid-pressure systems, or control of elements therefor, to the use of such fluids
    • F15B21/065—Use of electro- or magnetosensitive fluids, e.g. electrorheological fluid
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B2015/208—Special fluid pressurisation means, e.g. thermal or electrolytic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/885—Control specific to the type of fluid, e.g. specific to magnetorheological fluid

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Robotics (AREA)
  • Rheumatology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Prostheses (AREA)
  • Actuator (AREA)
CN202210728184.8A 2021-06-30 2022-06-24 具有真空耦合的电极绝缘体的人造肌肉及其制造方法 Pending CN115533885A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US17/364,142 2021-06-30
US17/364,142 US11253996B1 (en) 2021-06-30 2021-06-30 Artificial muscles having vacuum coupled electrode insulators and methods of manufacturing the same

Publications (1)

Publication Number Publication Date
CN115533885A true CN115533885A (zh) 2022-12-30

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210728184.8A Pending CN115533885A (zh) 2021-06-30 2022-06-24 具有真空耦合的电极绝缘体的人造肌肉及其制造方法

Country Status (3)

Country Link
US (2) US11253996B1 (https=)
JP (1) JP2023008895A (https=)
CN (1) CN115533885A (https=)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11453347B2 (en) * 2020-03-12 2022-09-27 Toyota Motor Engineering & Manufacturing North America, Inc. Suction devices having artificial muscles
US11253996B1 (en) * 2021-06-30 2022-02-22 Toyota Motor Engineering & Manufacturing North America, Inc. Artificial muscles having vacuum coupled electrode insulators and methods of manufacturing the same
US11680559B1 (en) * 2022-04-06 2023-06-20 Toyota Motor Engineering & Manufacturing North America, Inc. Artificial muscles and hybrid actuation devices including artificial muscles having reinforcing threads to prevent permanent deformation
CN114800470B (zh) * 2022-06-23 2022-09-06 中国科学院沈阳自动化研究所 类烷烃模块化可重构机器人
US20240004474A1 (en) * 2022-06-29 2024-01-04 Industrial Technology Research Institute Film deformation element, haptic feedback unit and haptic feedback system
US12589512B2 (en) 2023-12-28 2026-03-31 Toyota Motor Engineering & Manufacturing North America, Inc. Shearing tool with closure assist

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Publication number Priority date Publication date Assignee Title
FR2643191B1 (fr) 1989-02-15 1991-05-10 Commissariat Energie Atomique Source lumineuse plane
CN1582866A (zh) 2004-06-02 2005-02-23 杭州电子科技大学 带触觉的肌电仿生电动假手及其控制方法
US7834527B2 (en) * 2005-05-05 2010-11-16 SmartMotion Technologies, Inc. Dielectric elastomer fiber transducers
US20090115285A1 (en) * 2007-10-08 2009-05-07 Khalil Najafi Liquid-gap electrostatic hydraulic micro actuators
JP2014112485A (ja) 2012-12-05 2014-06-19 Samsung R&D Institute Japan Co Ltd 固体電池
WO2014169119A1 (en) * 2013-04-10 2014-10-16 President And Fellows Of Harvard College Stretchable ionics for transparent sensors and actuators
KR101779692B1 (ko) 2016-01-20 2017-09-19 울산대학교 산학협력단 인공 근섬유 구동기
US10586913B2 (en) 2016-08-11 2020-03-10 Postech Academy-Industry Foundation Electroactive actuator, mechanical device including the same, and polymer electrolyte
US10995779B2 (en) * 2017-03-22 2021-05-04 The Regents Of The University Of Colorado Hydraulically amplified self-healing electrostatic actuators
WO2019173227A1 (en) 2018-03-04 2019-09-12 The Regents Of The University Of Colorado, A Body Corporate Hydraulically amplified self-healing electrostatic transducers harnessing zipping mechanism
US10640033B1 (en) * 2018-12-18 2020-05-05 Toyota Motor Engineering & Manufacturing North America, Inc. Adjusting vehicle headlights
US11370496B2 (en) * 2020-01-31 2022-06-28 Toyota Motor Engineering & Manufacturing North America, Inc. Programmable texture surfaces having artificial muscles
US11253996B1 (en) * 2021-06-30 2022-02-22 Toyota Motor Engineering & Manufacturing North America, Inc. Artificial muscles having vacuum coupled electrode insulators and methods of manufacturing the same

Also Published As

Publication number Publication date
JP2023008895A (ja) 2023-01-19
US11253996B1 (en) 2022-02-22
US20230001572A1 (en) 2023-01-05
US11602839B2 (en) 2023-03-14

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PB01 Publication
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20230714

Address after: Aichi Prefecture, Japan

Applicant after: Toyota Motor Corp.

Address before: Texas, USA

Applicant before: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, Inc.

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