CN115609603A - Soft manipulator and control method - Google Patents
Soft manipulator and control method Download PDFInfo
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- CN115609603A CN115609603A CN202211309810.6A CN202211309810A CN115609603A CN 115609603 A CN115609603 A CN 115609603A CN 202211309810 A CN202211309810 A CN 202211309810A CN 115609603 A CN115609603 A CN 115609603A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000005452 bending Methods 0.000 claims description 86
- 239000004997 Liquid crystal elastomers (LCEs) Substances 0.000 claims description 21
- 239000004642 Polyimide Substances 0.000 claims description 6
- 229920001721 polyimide Polymers 0.000 claims description 6
- 239000004020 conductor Substances 0.000 claims description 3
- 239000004973 liquid crystal related substance Substances 0.000 claims description 3
- 239000002520 smart material Substances 0.000 claims description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 5
- 238000005485 electric heating Methods 0.000 description 5
- 239000000741 silica gel Substances 0.000 description 5
- 229910002027 silica gel Inorganic materials 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
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- 238000004088 simulation Methods 0.000 description 2
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- 238000010146 3D printing Methods 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000004205 dimethyl polysiloxane Substances 0.000 description 1
- 235000013870 dimethyl polysiloxane Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 230000005684 electric field Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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- 239000007788 liquid Substances 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 239000002048 multi walled nanotube Substances 0.000 description 1
- CXQXSVUQTKDNFP-UHFFFAOYSA-N octamethyltrisiloxane Chemical compound C[Si](C)(C)O[Si](C)(C)O[Si](C)(C)C CXQXSVUQTKDNFP-UHFFFAOYSA-N 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The utility model is suitable for a manipulator technical field provides a software manipulator and control method, the software manipulator includes backup pad and a plurality of finger structure, a plurality of finger structure distribute installs in the backup pad, every finger structure includes first elastic plate, the second elastic plate, pressure sensor, first angle sensor and second angle sensor, the equal fixed mounting of first end of first elastic plate and the first end of second elastic plate is in the backup pad, the second end of first elastic plate and the second end of second elastic plate all with pressure sensor fixed connection, be preset angle between first elastic plate and the second elastic plate, first angle sensor sets up on first elastic plate, second angle sensor sets up on the second elastic plate. When the finger structure snatchs the object, first elastic plate and second elastic plate provide the pressure to the object jointly, increase the frictional force of finger structure to the object to make this software manipulator can snatch the object that weight is bigger.
Description
Technical Field
The application belongs to the technical field of manipulators, and particularly relates to a soft manipulator and a control method.
Background
The manipulator has wide industrial application and can replace human beings to complete a plurality of incredible tasks. However, the conventional manipulator is made of rigid materials, and objects with soft appearance and small volume are easily damaged. The advent of soft hands has generated a great deal of interest to researchers. The soft hand is mainly made of flexible materials, and can perform more flexible operation compared with a mechanical arm, such as use in narrow space, grabbing irregular objects, minimally invasive surgery and the like, but the soft hand has small holding force, so that the soft hand cannot grab objects with large lifting capacity.
Disclosure of Invention
The embodiment of the application provides a soft manipulator and a control method, which can solve the problem of small holding force of a soft hand.
In a first aspect, an embodiment of the present application provides a soft manipulator, including a support plate and a plurality of finger structures, where the plurality of finger structures are distributed and installed on the support plate, each finger structure includes a first elastic plate, a second elastic plate, a pressure sensor, a first angle sensor, and a second angle sensor, a first end of the first elastic plate and a first end of the second elastic plate are both fixedly installed on the support plate, a second end of the first elastic plate and a second end of the second elastic plate are both fixedly connected to the pressure sensor, a preset angle is formed between the first elastic plate and the second elastic plate, the first angle sensor is disposed on the first elastic plate, and the second angle sensor is disposed on the second elastic plate;
the control end of the first elastic plate, the control end of the second elastic plate, the first angle sensor, the second angle sensor and the pressure sensor are all used for being electrically connected with a controller.
In a possible implementation manner of the first aspect, the first elastic plate includes a liquid crystal elastomer film and an electric heating film, the electric heating film is attached to the surface of the elastic liquid crystal body, the electric heating film is used for generating heat after being powered on and transmitting the heat to the liquid crystal elastomer, and the liquid crystal elastomer is used for generating bending deformation when the temperature changes.
In one possible implementation manner of the first aspect, the electrothermal film is a polyimide electrothermal film.
In one possible implementation manner of the first aspect, the first angle sensor is manufactured by stamping a conductive material on the liquid crystal elastomer.
In one possible implementation manner of the first aspect, the pressure sensor is prepared by stamping a grid-shaped electrode on the smart material.
In one possible implementation manner of the first aspect, the preset angle is 10 ° to 30 °.
In a second aspect, an embodiment of the present application provides a method for controlling a soft manipulator, including:
acquiring an expected bending angle of the finger structure, a first current bending angle of a first elastic plate in the finger structure and a second current bending angle of a second elastic plate in the finger structure;
bringing the expected bending angle into an angle model to obtain a first expected bending angle of a first elastic plate and a second expected bending angle of a second elastic plate in the finger structure;
controlling the first elastic plate to bend to the first desired bending angle according to the first current bending angle and the first desired bending angle;
controlling the second elastic plate to bend to the second desired bending angle according to the second current bending angle and the second desired bending angle.
In a possible implementation manner of the second aspect, the controlling the first elastic plate to bend to the first desired bending angle according to the first current bending angle and the first desired bending angle includes:
calculating to obtain a first angle deviation according to the first current bending angle and the first expected bending angle;
substituting the first angle deviation into a first formula to obtain a control signal of the first elastic plate;
wherein the first formula is:
wherein u (t) is a control signal of the first elastic plate, e (t) is the first angle deviation, K p Is the proportionality coefficient, T I Is the integral time coefficient, T D Is a differential time coefficient.
Compared with the prior art, the embodiment of the application has the beneficial effects that:
the application provides a soft manipulator, which comprises a supporting plate and a plurality of finger structures, wherein the finger structures are distributed and installed on the supporting plate, each finger structure comprises a first elastic plate, a second elastic plate, a pressure sensor, a first angle sensor and a second angle sensor, the first end of the first elastic plate and the first end of the second elastic plate are fixedly installed on the supporting plate, the second end of the first elastic plate and the second end of the second elastic plate are fixedly connected with the pressure sensor, a preset angle is formed between the first elastic plate and the second elastic plate, the first angle sensor is arranged on the first elastic plate, and the second angle sensor is arranged on the second elastic plate; the control end of the first elastic plate, the control end of the second elastic plate, the first angle sensor, the second angle sensor and the pressure sensor are all used for being electrically connected with the controller.
When the soft manipulator is used, the controller controls the first elastic plate and the second elastic plate to be electrified, and the first elastic plate and the second elastic plate are electrified to generate bending deformation, so that the bending of the finger structure is realized, and the grabbing of an object can be realized by jointly bending the finger structures. Because every finger structure comprises first elastic plate and second elastic plate to be preset angle between first elastic plate and the second elastic plate, when finger structure snatched the object, first elastic plate and second elastic plate provided the pressure to the object jointly, increased finger structure to the frictional force of object, thereby made this software manipulator can snatch the object that weight is bigger.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a soft robot provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a first elastic plate according to an embodiment of the present application;
FIG. 3 is a simulation diagram of a pressure sensor provided by an embodiment of the present application;
fig. 4 is a flowchart illustrating a control method of a soft robot according to an embodiment of the present disclosure;
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in the specification of this application and the appended claims, the term "if" may be interpreted contextually as "when …" or "once" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Referring to fig. 1 and 2, the software manipulator includes backup pad and a plurality of finger structure, a plurality of finger structure distribution are installed in the backup pad, every finger structure includes first elastic plate, the second elastic plate, pressure sensor, first angle sensor and second angle sensor, the equal fixed mounting in the backup pad of first end of first elastic plate and the first end of second elastic plate, the second end of first elastic plate and the second end of second elastic plate all with pressure sensor fixed connection, be the angle of predetermineeing between first elastic plate and the second elastic plate, first angle sensor sets up on first elastic plate, second angle sensor sets up on the second elastic plate.
Specifically, when the software manipulator uses, all be used for the control end of first elastic plate, the control end of second elastic plate, first angle sensor, second angle sensor and pressure sensor with the controller electricity and be connected. The controller controls the first elastic plate and the second elastic plate to be electrified, and the first elastic plate and the second elastic plate are electrified to generate bending deformation, so that the bending of the finger structure is realized, and the grabbing of an object can be realized through the common bending of a plurality of finger structures. The first angle sensor may detect a bending angle of the first elastic plate and transmit the bending angle of the first elastic plate to the controller. The second angle sensor may detect a bending angle of the second elastic plate and transmit the bending angle of the second elastic plate to the controller. The pressure sensor may detect pressure of the finger structure against the object and communicate the detected pressure to the controller. The controller adjusts the bending angles of the first elastic plate and the second elastic plate according to the bending angle of the first elastic plate, the bending angle of the second elastic plate and the pressure of the finger structure on the object, adjusts the bending angles of the first elastic plate and the second elastic plate, further realizes the control of the bending angle of the finger structure, and realizes the grabbing of the object.
Because every finger structure comprises first elastic plate and second elastic plate to be preset angle between first elastic plate and the second elastic plate, when finger structure snatched the object, first elastic plate and second elastic plate provided the pressure to the object jointly, increased finger structure to the frictional force of object, thereby made this software manipulator can snatch the object that weight is bigger.
In one embodiment of the present application, the first elastic plate includes a liquid crystal elastomer film and an electric heating film, and the electric heating film is attached to the surface of the elastic liquid crystal.
Specifically, a resin mold is printed by using a 3D printing technology, PDMS solution is mixed in proportion and poured into the mold to prepare a flexible support plate (similar to a palm structure), and all finger structures are adhered to the support plate to form the soft manipulator. The liquid crystal elastomer film (LCE) is bonded with a polyimide electrothermal film with a multi-walled carbon nanotube solid, the electrothermal film is used for generating heat after being electrified and transmitting the heat to the liquid crystal elastomer, and the liquid crystal elastomer generates bending deformation when the temperature changes, so that the bending action of the first elastic plate is realized. The structure and the working principle of the second elastic plate are the same as those of the first elastic plate, and are not described herein again.
Exemplarily, the electric heat membrane is the polyimide electric heat membrane, and the resistance of the polyimide electric heat membrane on the first elastic plate equals with the resistance of the polyimide electric heat membrane on the second elastic plate to this ensures that the controller can accurate control first elastic plate and the bending angle of second elastic plate.
In one embodiment of the application, the first angle sensor is manufactured by stamping a conductive material on the liquid crystal elastomer, and the first angle sensor can generate the same bending angle with the liquid crystal elastomer, so that the first angle sensor can accurately detect the bending angle of the first elastic plate. The second angle sensor and the first angle sensor have the same structure, manufacturing process and working principle, and are not described herein again.
In one embodiment of the application, the pressure sensor is prepared by stamping a grid-shaped electrode on the intelligent material, so that the integration of intelligent material sensing is realized. The middle dielectric medium of the pressure sensor adopts soft silica gel HC-9000 which is oily liquid and becomes a soft elastic material after being heated and solidified, and the manufacturing process is simple. The pressure sensor is arranged at the top end part of each layer of liquid crystal elastomer film, the size is 1cm multiplied by 0.5cm multiplied by 3mm, and the pressure sensor does not occupy space.
Illustratively, as shown in fig. 3, the pressure sensor is a flexible capacitive pressure sensor, the flexible capacitive pressure sensor is distributed at a fingertip of the liquid crystal elastomer film, after the fingertip touches an object, the middle dielectric medium is compressed to cause a change in capacitance value, the upper and lower electrode plates are all in a grid-shaped electrode structure, the middle dielectric medium is silica gel HC-9000, the width of the grid-shaped electrode is 20um, the width of each grid is 70um, and the thickness of each grid is 30um. In order to determine the feasibility of a grid electrode structure and the capacitance value change range of the formed flexible capacitance pressure sensor, SOLIDWORKS three-dimensional modeling is utilized, electric field simulation is conducted in COMSOL to obtain capacitance values at different intervals, the sizes of an upper electrode and a lower electrode are simulated according to standard sizes, an intermediate dielectric medium is selected to be air, the relative dielectric constant of the air is 1, the relative dielectric constant of silica gel is larger than that of the air, the capacitance value is 1.56pF when the interval is 0.5mm, the capacitance value is 0.26pF when the interval is 3mm, the capacitance pressure sensor formed by the silica gel can be judged to be in a detectable range through a capacitance formula, and the grid can be used as an electrode, and the silica gel can be used as a dielectric medium to prepare the flexible capacitance pressure sensor.
In one embodiment of the application, the preset angle is 10-30 degrees, the first elastic plate and the second elastic plate are determined not to interfere with each other when being subjected to bending deformation, and when the first elastic plate and the second elastic plate are subjected to corresponding bending angles, the first elastic plate and the second elastic plate can simultaneously extrude an object, so that the extrusion force on the object is increased, and the object with larger weight can be grabbed.
The present application also discloses a method for controlling a soft manipulator, as shown in fig. 4, the method for controlling a soft manipulator includes steps S301 to S304.
Step S301, a desired bending angle of the finger structure, a first current bending angle of a first elastic plate in the finger structure, and a second current bending angle of a second elastic plate in the finger structure are obtained.
Specifically, the expected bending angle of the finger structure is sent by a remote controller or calculated by a controller according to an instruction of a user, a first current bending angle of a first elastic plate in the finger structure is detected by a first angle sensor, and a second current bending angle of a second elastic plate in the finger structure is detected by a second angle sensor.
Step S302, substituting the expected bending angle into the angle model to obtain a first expected bending angle of the first elastic plate and a second expected bending angle of the second elastic plate in the finger structure.
Specifically, a designer can analyze the action of the soft manipulator when grabbing an object by using an experimental method to obtain the optimal bending angle of the first elastic plate and the optimal bending angle of the second elastic plate corresponding to the expected bending angle of each finger structure, and then associate and store the expected bending angle of the finger structure, the bending angle of the first elastic plate and the bending angle of the second elastic plate to form an angle model of the finger structure.
When the desired bending angle is obtained, the desired bending angle is brought into the angle model, and a first desired bending angle of the first elastic plate and a second desired bending angle of the second elastic plate in the finger structure can be obtained.
Step S303, controlling the first elastic plate to bend to a first desired bending angle according to the first current bending angle and the first desired bending angle.
Specifically, first, a first angle deviation is calculated according to a first current bending angle and a first expected bending angle, wherein the first angle deviation is e (t) = θ d (t)-θ(t)，θ d (t) is the first desired bend angle, and θ (t) is the first current bend angle.
Then, the first angle deviation is substituted into a first formula to obtain a control signal of the first elastic plate;
wherein the first formula is:
wherein u (t) is a control signal of the first elastic plate, e (t) is a first angle deviation, K p Is the proportionality coefficient, T I Is the integral time coefficient, T D Is a differential time coefficient, a proportionality coefficient K p Integral time coefficient T I And a differential time coefficient T D Can be determined experimentally by the designer.
In order to solve the problem that the PID control may cause a large overshoot while eliminating the static error, an integral separation method is required, and the integral separation can add or subtract the integral action according to the current situation, so as to improve the control accuracy. The specific implementation process comprises the following steps:
1. a threshold value epsilon > 0 is set.
2. When e (t) is less than or equal to epsilon, the integral effect is increased, the static error is eliminated by utilizing PID control, and the precision is improved.
3. When e (t) is equal to or more than epsilon, the integral action is subtracted, and the increase of overshoot is prevented by utilizing PD control, so that the generation of oscillation is prevented.
The integral separation PID control algorithm can be expressed as:
in the formula, T is a sampling time, and the β term is a switching coefficient of the integral term.
In the formula, ε is a set threshold value. The PID control modifies the control quantity in the bending process of the finger structure to enable the bending angle to be close to the ideal bending angle, the bending corresponding control quantity of each layer of liquid crystal elastomer film is different, and the finally achieved angle bending curves are basically consistent.
And S304, controlling the second elastic plate to bend to a second expected bending angle according to the second current bending angle and the second expected bending angle.
Specifically, the execution method of step S304 is the same as the execution method of step S303, and is not described herein again.
The resistance value of a heating film bonded with the liquid crystal elastomer film is 250-260 omega, an integral separation PID control algorithm is utilized to eliminate offset e (t) in the experimental process to obtain a controlled quantity u (t), the controlled quantity is used as input to be connected into a single chip microcomputer to control a relay, a plurality of relays control a plurality of layers of liquid crystal elastomer films to obtain the same bending angle, the relay can control on-off alternate change to achieve the stability of the bending angle of the liquid crystal elastomer film after a soft hand contacts an object, meanwhile, two ends of a capacitance sensor are connected onto an LCR table, and the change of capacitance values on the LCR table is observed while the object is grabbed to represent the pressure.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. A soft manipulator is characterized by comprising a supporting plate and a plurality of finger structures, wherein the finger structures are distributed and installed on the supporting plate, each finger structure comprises a first elastic plate, a second elastic plate, a pressure sensor, a first angle sensor and a second angle sensor, the first end of the first elastic plate and the first end of the second elastic plate are fixedly installed on the supporting plate, the second end of the first elastic plate and the second end of the second elastic plate are fixedly connected with the pressure sensor, a preset angle is formed between the first elastic plate and the second elastic plate, the first angle sensor is arranged on the first elastic plate, and the second angle sensor is arranged on the second elastic plate;
the control end of the first elastic plate, the control end of the second elastic plate, the first angle sensor, the second angle sensor and the pressure sensor are all used for being electrically connected with a controller.
2. The soft manipulator of claim 1, wherein the first elastic plate comprises a liquid crystal elastomer film and an electrothermal film, the electrothermal film is attached to the surface of the elastic liquid crystal body, the electrothermal film is used for generating heat after being electrified and transmitting the heat to the liquid crystal elastomer, and the liquid crystal elastomer is used for generating bending deformation when the temperature changes.
3. The soft manipulator of claim 2, wherein the electrothermal film is a polyimide electrothermal film.
4. The soft manipulator of claim 2, wherein the first angle sensor is fabricated by stamping a conductive material on the liquid crystal elastomer.
5. The soft manipulator according to claim 1, wherein the pressure sensor is prepared by stamping a grid electrode on a smart material.
6. The soft manipulator of claim 1, wherein the predetermined angle is 10 ° -30 °.
7. A method for controlling a soft manipulator, comprising:
acquiring an expected bending angle of the finger structure, a first current bending angle of a first elastic plate in the finger structure and a second current bending angle of a second elastic plate in the finger structure;
bringing the expected bending angle into an angle model to obtain a first expected bending angle of a first elastic plate and a second expected bending angle of a second elastic plate in the finger structure;
controlling the first elastic plate to bend to the first desired bending angle according to the first current bending angle and the first desired bending angle;
controlling the second elastic plate to bend to the second desired bend angle according to the second current bend angle and the second desired bend angle.
8. The method of controlling a soft manipulator of claim 7, wherein the controlling the first elastic plate to bend to the first desired bend angle based on the first current bend angle and the first desired bend angle comprises:
calculating to obtain a first angle deviation according to the first current bending angle and the first expected bending angle;
substituting the first angle deviation into a first formula to obtain a control signal of the first elastic plate;
wherein the first formula is:
wherein u (t) is a control signal of the first elastic plate, e (t) is the first angle deviation, K p Is the proportionality coefficient, T I Is the integral time coefficient, T D Is a differential time coefficient.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150298322A1 (en) * | 2013-06-26 | 2015-10-22 | U.S. Army Research Laboratory Attn: Rdrl-Loc-I | Optically-actuated mechanical devices |
| CN107671878A (en) * | 2017-11-16 | 2018-02-09 | 重庆大学 | A kind of electrostatic adsorption type software handgrip of imitative fin structure |
| CN108274485A (en) * | 2018-02-28 | 2018-07-13 | 深圳臻迪信息技术有限公司 | A kind of software finger, grabbing device and crawl control system |
| CN111230912A (en) * | 2020-03-20 | 2020-06-05 | 燕山大学 | Soft joint paw based on 4D printing and consistency control method thereof |
| CN114102657A (en) * | 2021-12-28 | 2022-03-01 | 中北大学 | Multistable flexible gripper driven by liquid crystal elastomer and preparation method thereof |
-
2022
- 2022-10-25 CN CN202211309810.6A patent/CN115609603B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150298322A1 (en) * | 2013-06-26 | 2015-10-22 | U.S. Army Research Laboratory Attn: Rdrl-Loc-I | Optically-actuated mechanical devices |
| CN107671878A (en) * | 2017-11-16 | 2018-02-09 | 重庆大学 | A kind of electrostatic adsorption type software handgrip of imitative fin structure |
| CN108274485A (en) * | 2018-02-28 | 2018-07-13 | 深圳臻迪信息技术有限公司 | A kind of software finger, grabbing device and crawl control system |
| CN111230912A (en) * | 2020-03-20 | 2020-06-05 | 燕山大学 | Soft joint paw based on 4D printing and consistency control method thereof |
| CN114102657A (en) * | 2021-12-28 | 2022-03-01 | 中北大学 | Multistable flexible gripper driven by liquid crystal elastomer and preparation method thereof |
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