An inchworm robot using electro-conjugate fluid
An inchworm robot using electro-conjugate fluid
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DOI：
10.1109/robio.2012.6491102
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发表时间：
2012-12
期刊：
影响因子：
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通讯作者：
Shouhei Ueno;K. Takemura;S. Yokota;K. Edamura
中科院分区：
文献类型：
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作者：
Shouhei Ueno;K. Takemura;S. Yokota;K. Edamura
电共轭流体（ECF）是一种功能流体，其在受到高直流电压时产生流动（ECF流动）。本研究提出一种具有柔性本体及双吸盘的新型尺蠖机器人，吸盘均由ECF流体驱动。该机器人模仿尺蠖的运动模式，并引入了ECF来实现运动。首先，我们开发并评估了ECF流发生器，压力源集成吸盘和膨胀/收缩致动器（柔性体）。接下来，我们开发了一个长59 mm，宽12 mm，重9.5 g的原型。最后，我们进行了机器人在亚克力板上的移动实验。机器人可以在水平面上移动，也可以在倾斜5°和10°的表面上移动。
An electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a flow (ECF flow) when subjected to a high DC voltage. This study develops a novel inchworm robot having flexible body and using two suckers both of which are driven by the ECF flow. The robot imitates the movement pattern of inchworm and is introduced the ECF to realize the motion. First, we developed and evaluated an ECF flow generator, a pressure source integrated sucker and an expansion/contraction actuator (flexible body). Next, we developed a prototype with 59 mm long, 12 mm wide and 9.5 g weight. Finally, we conducted moving experiments of the robot on an acrylic board. The robot could move on a horizontal surface, and on surfaces with inclination of 5° and 10°.