收藏本站
《第36届中国控制会议论文集(E)》2017年
收藏 | 手机打开
二维码
手机客户端打开本文

A Variable Stiffness Soft Robotic Gripper with Low-Melting-Point Alloy

HAO Yufei  WANG Tianmiao  FANG Xi  YANG Kang  MAO Ling  GUAN Juan  WEN Li  
【摘要】:In this paper,we present the design,fabrication and the function of a soft actuator embedded with Low-Melting-Point Alloy(LMPA).By melting the metal via joule heating,the phase of the metal transformed from the solid state to the liquid state,by which the stiffness of the actuator changed over nearly an order of magnitude.Through a reheating-recrystallizing circle,the actuator can self-healing and recovered from the crack state.The melting speed under different electrical currents was measured.Besides,two experiments were conducted to investigate the self-healing property and stiffness enhancement of the actuator.The LMPA could be melted within 40 seconds.By using three actuators embedding with LMPA,we implemented a soft gripper with variable mechanical stiffness.Experimental results show that the actuator not only has the self-healing property but also enhance the mechanical stiffness compared to the no-LMPA actuator(control).While the LMPA was under solid(recrystallized) state,the bending stiffness of the actuator increased up to 3.5 times over that of the control;while the pull-off force of the gripper increased 6.5 times.The LMPA provide the soft robots with capacities of variable mechanical stiffness,and the self-healing provide a more robust capability for the system.

【相似文献】
中国期刊全文数据库 前10条
1 ;The design and dynamic performance of a moment actuator[J];Chinese Journal of Acoustics;1995年02期
2 夏智勋;罗振兵;;Physical factors of primary jet vectoring control using synthetic jet actuators[J];Applied Mathematics and Mechanics(English Edition);2007年07期
3 ;Robust reliable H_∞ control for discrete-time Markov jump linear systems with actuator failures[J];Journal of Systems Engineering and Electronics;2008年05期
4 CHEN ZhenLi;HAO LinZhao;ZHANG BinQian;;A model for Nanosecond Pulsed Dielectric Barrier Discharge(NSDBD)actuator and its investigation on the mechanisms of separation control over an airfoil[J];Science China(Technological Sciences);2013年05期
5 Lei MO;Bugong XU;;Node coordination mechanism based on distributed estimation and control in wireless sensor and actuator networks[J];Journal of Control Theory and Applications;2013年04期
6 Shi Zhenyun;Wang Tianmiao;Liu Da;Ma Chen;Yuan Xiangnan;;A fuzzy PID-controlled SMA actuator for a two-DOF joint[J];Chinese Journal of Aeronautics;2014年02期
7 ;Modal analysis and pulse response of mobile hard disk head actuator arm assembly[J];Engineering Sciences;2009年03期
8 ;Review of actuators for high speed active flow control[J];Science China(Technological Sciences);2012年08期
9 李国平;陈子辰;;Experimental Research on Output Performances of Giant Magnetostrictive Actuator[J];Journal of China Ordnance;2007年02期
10 ;Numerical Simulation of High-Power Synthetic Jet Actuator Flowfield and its Influence on Mixing Control[J];Journal of Thermal Science;2008年03期
中国重要会议论文全文数据库 前10条
1 ;Model and control emulator of Giant magnetostriction actuator[A];Proceedings of 2010 Chinese Control and Decision Conference[C];2010年
2 Yasuhiro Hayakawa;;STUDY ON A NEW TYPE OF SOFT RUBBER ACTUATOR WITH HUMAN COMPATIBILITY[A];第四届全国流体传动与控制学术会议论文集[C];2006年
3 ;Experimental technique based on delay phase of PZT vibrator and flow-field of PZT-driven dual synthetic jets actuator[A];2011年全国压电和声波理论及器件应用研讨会报告程序册及摘要集[C];2011年
4 Xueliang Zhao;Chengjin Zhang;Kang Li;Guilin Zhang;;A Dynamic Creep Model of the Stack Piezo-actuator[A];第25届中国控制与决策会议论文集[C];2013年
5 ;Reliable H_∞ Controller Design of Discrete Time Systems with Actuator faults[A];Proceedings of 2010 Chinese Control and Decision Conference[C];2010年
6 ;On Electromagnetic Force Control Technology of Modal Testing Suspension System[A];第二十七届中国控制会议论文集[C];2008年
7 ;Design of Reliable Controller with Mixed Fault Model in Linear Systems[A];Proceedings of 2010 Chinese Control and Decision Conference[C];2010年
8 Hong-Jun Ma;Guang-Hong Yang;Dan Ye;;Switching fault-tolerant control for a class of nonlinear systems with actuator faults[A];第25届中国控制与决策会议论文集[C];2013年
9 ;Reliable output feedback control for systems with control input delay and stochastic actuator failure[A];Proceedings of the 2011 Chinese Control and Decision Conference(CCDC)[C];2011年
10 Horn-Sen TZOU;;Microscopic actuation and optimal actuator locations of paraboloidal cylindrical shells[A];2011年全国压电和声波理论及器件应用研讨会报告程序册及摘要集[C];2011年
中国知网广告投放
 快捷付款方式  订购知网充值卡  订购热线  帮助中心
  • 400-819-9993
  • 010-62791813
  • 010-62985026