DE10316959A1 - Fluid-driven material joint component used in grabbing and manipulation mechanisms, has concavity and internal vacuum, in which thickness of joint component in range of concavity is less than or equal to thickness in rest of joint component - Google Patents
Fluid-driven material joint component used in grabbing and manipulation mechanisms, has concavity and internal vacuum, in which thickness of joint component in range of concavity is less than or equal to thickness in rest of joint component Download PDFInfo
- Publication number
- DE10316959A1 DE10316959A1 DE2003116959 DE10316959A DE10316959A1 DE 10316959 A1 DE10316959 A1 DE 10316959A1 DE 2003116959 DE2003116959 DE 2003116959 DE 10316959 A DE10316959 A DE 10316959A DE 10316959 A1 DE10316959 A1 DE 10316959A1
- Authority
- DE
- Germany
- Prior art keywords
- joint component
- concavity
- thickness
- joint element
- equal
- 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.)
- Ceased
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a 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
- F15B15/08—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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Prostheses (AREA)
Abstract
Description
Die Erfindung betrifft ein stoffschlüssiges elastisches Gelenkelement aus einem reversibel verformbaren, dehnbaren, polymeren Material.The The invention relates to a cohesive elastic Joint element made of a reversibly deformable, stretchable, polymeric Material.
Das erfindungsgemäße Gelenkelement ist für Greif- und Manipuliermechanismen, sowie für lokomotorische Aufgaben einsetzbar.The joint element according to the invention is for Gripping and manipulating mechanisms, as well as for locomotive tasks.
Für die Bewegungs- und Kraftübertragung sind eine Reihe von Mechanismen bekannt. Ihre Struktur besteht jedoch im allgemeinen aus starren Körpern, die durch form- oder kraftschlüssige, reibungsbehaftete Gelenke miteinander verbunden sind. Wegen der komplizierten Montagevorgänge, die derartige Mechanismen meist erfordern, sind diese nur in gewissen Grenzen miniaturisierbar. Deshalb finden neben den klassischen form- oder kraftgepaarten Gelenken zunehmend stoffschlüssige gelenkige Verbindungen Anwendung.For the movement and power transmission are a number of mechanisms are known. However, their structure exists generally from rigid bodies, through positive or non-positive, Frictional joints are interconnected. Because of the complicated assembly operations that mechanisms of this kind usually only require certain mechanisms Limits can be miniaturized. Therefore, in addition to the classic formal or force-paired joints increasingly cohesive articulated connections Application.
Zu diesen stoffschlüssigen Gelenken sind mehrere interessante Lösungen bekannt. Zum Beispiel wurden von Bögelsack in „Nachgiebige Mechanismen in miniaturisierten Bewegungssystemen" (Prceed. Of the Ninth World Congress IFToMM Milano 1995, S. 3101–3104) und von Ananthasures, Kota und Gianchandani in „A Methodical Approach to the Design of Compliant Micromechanisms" (Technical Digest, 1994 Solid State Sensor and Actuator Workshop, Hilton Head, SC, June 13–16, pp.) miniaturisierbare, stoffkohärente Greiferstrukturen auf der Basis nachgiebiger Rahmengefüge vorgeschlagen, bei denen infolge einer fluidischen Druckbelastungsveränderung Bewegungen, Verdrehungen bzw. Biegungen der Strukturen entstehen.To this cohesive There are several interesting solutions known to joints. For example were from Bögelsack in "Compliant Mechanisms in miniaturized movement systems "(Prceed. Of the Ninth World Congress IFToMM Milano 1995, pp. 3101-3104) and by Ananthasures, Kota and Gianchandani in “A Methodical Approach to the Design of Compliant Micromechanisms "(Technical Digest, 1994 Solid State Sensor and Actuator Workshop, Hilton Head, SC, June 13-16, pp.) miniaturizable, fabric coherent Gripper structures proposed on the basis of flexible frame structures, in which movements as a result of a fluidic change in pressure load, The structures are twisted or bent.
Daneben sind noch weitere elastische Strukturen aus der Literatur bekannt, bei denen die Bewegungen durch einen fluidischen Antrieb erzeugt werden. Jedoch haben diese Lösungen entweder den Nachteil, dass sie aus mehreren Bauelementen bestehen, was eine miniaturtechnische Anwendung erschwert, oder dass nur kleine Verformungen infolge einer Druckbelastung entstehen. Einige dieser Strukturen haben den Nachteil, dass die Verformung nicht lokal, sondern über die ganze Struktur aufgeteilt ist.Besides are other elastic structures known from the literature, where the movements are generated by a fluidic drive become. However, these have solutions either the disadvantage that they consist of several components, which complicates a miniature application, or that only small ones Deformations result from a pressure load. Some of these Structures have the disadvantage that the deformation is not local, but about the whole structure is divided.
Aufgabe der Erfindung ist es deshalb, ein miniaturisierbares Gelenkelement bereitzustellen, welches Biegeverformungen bis zu einem Winkel von 90° ermöglicht und die Gelenkstelle besser als die bisher bekannten Lösungen lokalisiert.task The invention is therefore a miniaturizable joint element to provide, which allows bending deformations up to an angle of 90 ° and localizes the joint better than the previously known solutions.
Erfindungsgemäß gelingt die Lösung dieser Aufgabe mit den kennzeichnenden Merkmalen des Patentanspruchs 1.Successful according to the invention the solution this task with the characterizing features of the claim 1.
Vorteilhafte Ausgestaltungen des erfindungsgemäßen Gelenkelementes sind in den Unteransprüchen angegeben.advantageous Embodiments of the joint element according to the invention are shown in the subclaims specified.
Die Erfindung wird im Folgenden anhand von Zeichnungen näher erläutert. In den zugehörigen Zeichnungen zeigen:The The invention is explained in more detail below with reference to drawings. In the associated drawings demonstrate:
In
Der
innere, einseitig geschlossene Hohlraum (
Diese Ausführungsform ist in seiner Fertigung besonders einfach realisierbar.This embodiment is particularly easy to manufacture.
Durch
Befüllung
des inneren, einseitig geschlossenen Hohlraumes (
Das
erfindungsgemäße Gelenkelement
kann aus isotropem Material gefertigt werden. Vom Vorteil ist jedoch
die Verwendung eines anisotropen Materiales für die gesamte Gelenkstruktur
oder nur für
die Fläche
der Konkavität
(
Mehrere
dieser vorgeschlagenen Gelenkelemente können miteinander parallel und/oder
seriell verschaltet werden. Im Fall einer reinen parallelen Verknüpfung mit
voneinander unabhängigen
fluidischen Antrieben (
Mit
einer reinen seriellen Verknüpfung
der erfindungsgemäßen Gelenkelemente
(
Möglich ist auch eine kombinierte Verknüpfung dieser Gelenkelemente (parallel und seriell) mit einem oder mit mehreren Antrieben (bei getrennten Innenräumen der einzelnen Gelenkelemente). Im letzteren Fall können mit dieser Struktur in Abhängigkeit der aktivierten Antriebe verschiedenste Biegeverformungen realisiert werden.Is possible also a combined link of these joint elements (parallel and serial) with one or with several drives (with separate interiors of the individual joint elements). In the latter case, you can depending on this structure of the activated drives realizes various bending deformations become.
Die erfindungsgemäßen Gelenkelemente zeichnen sich durch eine Reihe von Vorteilen aus. So ermöglichen sie Biegeverformungen in mindestens eine Richtung bis zu einem Winkel von 90° und eine höhere Lokalisierung der Gelenkstelle als in bisher bekannten Lösungen. Sie sind miniaturisierbar und somit universell einsetzbar.The Draw joint elements according to the invention are characterized by a number of advantages. In this way, they enable bending deformations in at least one direction up to an angle of 90 ° and a higher localization the joint point than in previously known solutions. They can be miniaturized and therefore universally applicable.
- 11
- Gelenkelementjoint element
- 22
- Konkavitätconcavity
- 33
- innerer, einseitig geschlossener Hohlrauminternal, cavity closed on one side
- 44
- Kontur des inneren Hohlraumescontour of the inner cavity
- 55
- Ausbeulungbulge
- pp
- Fluidbefüllung mit bestimmten DruckFluid filling with certain pressure
- δδ
- Wanddickewall thickness
- φφ
- Verformungswinkeldeformation angle
- νν
- radiale Ausdehnungradial expansion
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2003116959 DE10316959A1 (en) | 2003-04-12 | 2003-04-12 | Fluid-driven material joint component used in grabbing and manipulation mechanisms, has concavity and internal vacuum, in which thickness of joint component in range of concavity is less than or equal to thickness in rest of joint component |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2003116959 DE10316959A1 (en) | 2003-04-12 | 2003-04-12 | Fluid-driven material joint component used in grabbing and manipulation mechanisms, has concavity and internal vacuum, in which thickness of joint component in range of concavity is less than or equal to thickness in rest of joint component |
Publications (1)
Publication Number | Publication Date |
---|---|
DE10316959A1 true DE10316959A1 (en) | 2004-11-11 |
Family
ID=33154187
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE2003116959 Ceased DE10316959A1 (en) | 2003-04-12 | 2003-04-12 | Fluid-driven material joint component used in grabbing and manipulation mechanisms, has concavity and internal vacuum, in which thickness of joint component in range of concavity is less than or equal to thickness in rest of joint component |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE10316959A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1754509A1 (en) | 2005-08-18 | 2007-02-21 | Forschungszentrum Jülich Gmbh | Carrier and implant for the insertion into a hollow body |
JP2017504489A (en) * | 2013-10-18 | 2017-02-09 | プレジデント アンド フェローズ オブ ハーバード カレッジ | Mechanically programmed soft actuator with matching sleeve |
DE102016003295B3 (en) * | 2016-03-04 | 2017-05-11 | Technische Universität Ilmenau | Adaptive electrode carrier, its use and method for its insertion |
-
2003
- 2003-04-12 DE DE2003116959 patent/DE10316959A1/en not_active Ceased
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1754509A1 (en) | 2005-08-18 | 2007-02-21 | Forschungszentrum Jülich Gmbh | Carrier and implant for the insertion into a hollow body |
JP2017504489A (en) * | 2013-10-18 | 2017-02-09 | プレジデント アンド フェローズ オブ ハーバード カレッジ | Mechanically programmed soft actuator with matching sleeve |
US10189165B2 (en) | 2013-10-18 | 2019-01-29 | President And Fellows Of Harvard College | Actuators with conforming sleeves |
DE102016003295B3 (en) * | 2016-03-04 | 2017-05-11 | Technische Universität Ilmenau | Adaptive electrode carrier, its use and method for its insertion |
WO2017148903A1 (en) | 2016-03-04 | 2017-09-08 | Technische Universität Ilmenau | Adaptive electrode carrier |
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Legal Events
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OR8 | Request for search as to paragraph 43 lit. 1 sentence 1 patent law | ||
8105 | Search report available | ||
8110 | Request for examination paragraph 44 | ||
8131 | Rejection |