Search

CN-117798970-B - Variable-rigidity flexible grip based on composite dielectric elastomer film and writing brush writer

CN117798970BCN 117798970 BCN117798970 BCN 117798970BCN-117798970-B

Abstract

The invention provides a variable-rigidity flexible grip based on a composite dielectric elastomer film and a writing brush writer based on the variable-rigidity flexible grip. The variable-rigidity flexible gripper comprises a plurality of rigidity self-adaptive flexible drivers, each rigidity self-adaptive flexible driver comprises an actuating layer, a rigidity adjusting layer and a flexible frame layer which are arranged in a laminated mode, the actuating layer and the rigidity adjusting layer are composite dielectric elastomer films with upper surfaces and lower surfaces coated with flexible electrodes, the flexible frame layer is an outermost layer and is used for adjusting the bending degree of the rigidity self-adaptive flexible drivers, the actuating layer and the rigidity adjusting layer are respectively connected with an external power supply, and the integral change of the actuating displacement and the rigidity of the flexible gripper is realized by adjusting the voltage and the frequency applied to the actuating layer and the rigidity adjusting layer.

Inventors

  • WU JINBO
  • HUANG DONGYANG
  • HAN YUBING
  • ZHANG JINCANG
  • WEN WEIJIA
  • XUE CHANG
  • ZHANG MENGYING

Assignees

  • 上海大学
  • 之江实验室

Dates

Publication Date
20260512
Application Date
20231213

Claims (9)

  1. 1. The variable-rigidity flexible gripper based on the composite dielectric elastomer film is characterized in that the variable-rigidity flexible gripper comprises a plurality of rigidity self-adaptive flexible drivers, each rigidity self-adaptive flexible driver comprises an actuating layer, a rigidity adjusting layer and a flexible frame layer which are arranged in a stacked mode, the actuating layer and the rigidity adjusting layer are composite dielectric elastomer films with flexible electrodes coated on the upper surface and the lower surface, the flexible frame layer is an outermost layer and is used for adjusting the bending degree of the rigidity self-adaptive flexible drivers, the actuating layer and the rigidity adjusting layer are respectively connected with an external power supply, the integrated change of the actuating displacement and the rigidity of the flexible gripper is achieved through adjusting the voltage and the frequency applied to the actuating layer and the rigidity adjusting layer, the composite dielectric elastomer films are films made of silicon rubber elastomer prepolymers containing giant electrorheological particles, the giant electrorheological particles are barium oxyoxalate particles obtained by modifying urea quantum dots by a coprecipitation method, the giant electrorheological particles and the dimethyl silicone oil are mixed into a silicon rubber prepolymer suspension with a mass ratio of 1:1, and the silicon elastomer prepolymer is mixed into a silicon elastomer suspension with a mass ratio of 50.
  2. 2. The composite dielectric elastomer film-based variable stiffness flexible grip of claim 1, wherein the giant electrorheological particles in the composite dielectric elastomer film of the actuation layer comprise 20-25% by mass of the silicone rubber elastomer prepolymer.
  3. 3. The composite dielectric elastomer film-based variable stiffness flexible grip of claim 2, wherein the actuation layer comprises at least 2 layers of the composite dielectric elastomer film.
  4. 4. The composite dielectric elastomer film-based variable stiffness flexible grip of claim 1, wherein the giant electrorheological particles in the composite dielectric elastomer film of the stiffness adjustment layer comprise 40-45% by mass of the silicone rubber elastomer prepolymer.
  5. 5. The composite dielectric elastomer film-based variable stiffness flexible grip of claim 1, wherein the actuation layer composite dielectric elastomer film has a thickness of 0.2mm to 0.7mm and the stiffness adjustment layer composite dielectric elastomer film has a thickness of 0.8mm to 1.2mm.
  6. 6. The composite dielectric elastomer film-based variable stiffness flexible grip of claim 1, wherein the range of the synergistic stiffness variation of the stiffness adjustment layer and the actuation layer is 16.4-30.4 mn/mm.
  7. 7. The composite dielectric elastomer film-based variable stiffness flexible grip of claim 1, Applying a voltage across the stiffness adjustment layer, creating an actuation coupling between the actuation layer and the stiffness adjustment layer; Applying a voltage to the actuation layer to simultaneously generate a stiffness increasing effect on the actuation layer and the stiffness adjusting layer, wherein the stiffness increasing amplitude of the actuation layer is smaller than that of the stiffness adjusting layer; Applying a voltage simultaneously to the actuation layer and the stiffness adjustment layer creates a stiffness coupling between the actuation layer and the stiffness adjustment layer.
  8. 8. The composite dielectric elastomer film-based variable stiffness flexible grip of claim 1, wherein the resonant frequency when the stiffness adjustment layer is applied with a voltage is 7Hz and the resonant frequency when the actuation layer is applied with a voltage is 9Hz, and the resonant frequency when the stiffness adjustment layer and the actuation layer are simultaneously applied with a voltage is 8 Hz.
  9. 9. A writing brush writer based on a variable stiffness flexible grip, characterized in that the variable stiffness flexible grip is a variable stiffness flexible grip based on a composite dielectric elastomer film according to any of claims 1-8.

Description

Variable-rigidity flexible grip based on composite dielectric elastomer film and writing brush writer Technical Field The invention relates to the field of artificial muscles, in particular to a variable-rigidity flexible grip based on a composite dielectric elastomer film and a writing brush writer. Background Artificial muscles are soft actuators capable of simulating the characteristics of natural muscles and are widely used for manufacturing robots having more efficient natural movement patterns. Artificial muscles with emotional feedback are critical to the development of intelligent and human-computer interactions of robots. Although the existing artificial muscle material single index can reach or even exceed the muscle of a person, the muscle state under different emotions is difficult to imitate, for example, the strokes of a human hand for writing the same word under the states of relaxation and tension are different, and the action expression results are slightly different due to the different degrees of tightness of the muscle. The rigidity-adjustable flexible gripper is a carrier for realizing more accurate and diversified actions and emotion transfer of the bionic robot due to the characteristics of flexible structure, environmental adaptability and the like, but is still challenging in the aspects of responsiveness and integration. To achieve different load adaptations without sacrificing the compliance of the soft actuator and robot during robot-object interactions, stiffness-tunable materials are applied to flexible robotic systems, including Shape Memory Polymers (SMPs), electrorheological materials (ERs), low Melting Point Alloys (LMPAs), granular or layered interfering structures, and elastomers filled with electro/magnetically active liquids. The rigidity of the thermal response SMPs can be adjusted through the temperature of the glass transition region, and the temperature is switched from a soft thermal state (in MPa) which is easy to deform to a hard cold state (in GPa) which is high in bearing capacity. In order to realize stable actuation and remarkable rigidity adjustment of the flexible gripper, researchers combine a shape memory polymer with another stimulus responsive material, and a rigidity-adjustable actuator is obtained by combining different heat responsive materials, but the problems of long heat response time, low efficiency and the like are unavoidable, and meanwhile, the integration is difficult to realize due to the complicated structure, and the problems are not beneficial to the practical application of the actuation material in the artificial muscle field. Disclosure of Invention The embodiment of the invention provides a variable-rigidity flexible grip based on a composite dielectric elastomer film, which at least solves one of the problems in the related art. To achieve the object, the present invention is achieved by the following means. According to the embodiment of the invention, on the one hand, the variable-rigidity flexible gripper based on the composite dielectric elastomer film comprises a plurality of rigidity self-adaptive flexible drivers, each rigidity self-adaptive flexible driver comprises an actuating layer, a rigidity adjusting layer and a flexible frame layer which are arranged in a stacked mode, the actuating layer and the rigidity adjusting layer are composite dielectric elastomer films with flexible electrodes coated on the upper surface and the lower surface, the flexible frame layer is an outermost layer and is used for adjusting the bending degree of the rigidity self-adaptive flexible drivers, the actuating layer and the rigidity adjusting layer are respectively connected with an external power supply, and the integral change of the actuating displacement and the rigidity of the flexible gripper is realized by adjusting the voltage and the frequency applied to the actuating layer and the rigidity adjusting layer. Further, the composite dielectric elastomer film is a film prepared from a silicone rubber elastomer prepolymer containing giant electrorheological particles, wherein the giant electrorheological particles are urea-coated barium titanyl oxalate particles obtained by modifying carbon quantum dots prepared by a coprecipitation method, the giant electrorheological particles and simethicone are mixed into a suspension according to a mass ratio of 4:1 to 1:1, the suspension is mixed with the silicone rubber mixture to prepare the silicone rubber elastomer prepolymer, and the giant electrorheological particles account for 5-50% of the mass ratio of the silicone rubber elastomer prepolymer. Further, the mass ratio of the giant electrorheological particles in the composite dielectric elastomer film of the actuation layer to the silicone rubber elastomer prepolymer is 20-25%. Further, the actuation layer comprises at least 2 layers of the composite dielectric elastomer film. Further, the mass ratio of the giant electrorheological particle