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Research on Multi-fingered Flexible Micro Hand driven by Electro-conjugate Fluid Jet

电共轭流体射流驱动多指柔性微手的研究

基本信息

批准号：
17360069
负责人：
YOKOTA Shinichi
金额：
$ 10.55万
依托单位：
Tokyo Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2005
资助国家：
日本
起止时间：
2005 至 2007
项目状态：
已结题

项目摘要

This study aims to develop a novel multi-fingered flexible micro hand suitable for handling a miniature soft object. We introduce an electro-conjugate fluid (ECF), which generates a powerful jet flow when subjected to high DC voltage, to drive a flexible micro finger with no mechanically moving part. Arranging several micro fingers, we can easily construct a multi-fingered flexible micro hand.First, we developed an ECF micro manipulator. This manipulator mainly consists of a curved silicone rubber tube with diameter of 1 mm, and an ECF jet generator which has a needle-ring electrode pair inside. By applying a DC voltage to the electrode pair, an ECF jet is generated resulting in increasing the inner pressure of the silicone rubber tube. Then, the tube deforms from a curve shape to straight. The experimental result shows 1 mm displacement at the tube tip. We obtained know-how for developing a miniature silicone rubber tube etc. from this development.Next, we developed a flexible micro finger using electro-conjugate fluid. This finger consists of a 4 m diameter silicone rubber tube, which has three fan-lie rooms with center angle of 120° along its axis, and an ECF jet generator having three needle-ring electrode pairs inside. By selectively applying a DC voltage to electrode pairs, one/two rooms are pressurized resulting in making the finger bend. The maximum displacement and forge generated at the tip of finger are 7.2 mm and 0.9 mN, respectively.

本研究旨在发展一种适用于搬运微小柔软物体的新型多指柔性微机械手。我们介绍了一种电共轭流体（ECF），它产生一个强大的射流时，受到高直流电压，驱动一个灵活的微手指没有机械运动部件。通过布置多个微指，可以很容易地构造出多指柔性微机械手。该机械手主要由一个直径为1 mm的弯曲硅橡胶管和一个内部带有针-环电极对的ECF射流发生器组成。通过向电极对施加DC电压，产生ECF射流，导致硅橡胶管的内部压力增加。然后，管从曲线形状变形为直线形状。实验结果表明，在管端位移1毫米。通过该开发，我们获得了开发微型硅橡胶管等的技术诀窍。接下来，我们开发了使用电共轭流体的柔性微型手指。该手指由一根直径为4 m的硅橡胶管和一个ECF射流发生器组成，硅橡胶管沿其轴线有三个中心角为沿着120°的扇形室，ECF射流发生器内部有三个针-环电极对。通过选择性地向电极对施加DC电压，一个/两个室被加压，导致手指弯曲。手指尖端产生的最大位移和锻造分别为7.2 mm和0.9 mN。