Photomechanical Soft Grippers

我们开发了由弹性模量在MPa范围内的软材料制成的仿生夹持装置。为此，我们使用新的光机械软聚合物或聚合物复合材料，它们可以通过使用特定波长的光以预定义的、完全非接触的方式快速改变它们的形状。由于这些材料在工程中仍然相对未知，因此可以从它们开发出新的夹持结构，其功能与更成熟的概念完全不同。到目前为止，这种光机械聚合物膜或复合材料的运动与所产生的力，动态弯曲运动学和弯曲的形状依赖性的研究很少。出于这个原因，我们计划一个广泛的实验方法，以获得对这些材料和系统的性质的基本见解。因此，该项目的总体目标是（1）两种类型的生物夹持系统的结构研究;（2）产生的力和弯曲运动学的量化;（3）生物启发爪的设计和测试其运动学性能;（4）新的光机械复合系统（pmCS）的设计;（5）pmCS在软机器人中的实施。此外，我们的目标是开发基于生物的概念，以服务于在SPP中建立的软机器人社区，并为软机器人社区的其他成员提供新材料。

We develop bio-inspired gripping devices made of soft materials with elastic moduli in the MPa range. For this, we use new photomechanical soft polymers or polymer composites, which can change their shape quickly in a predefined, completely contactless way through the use of light of certain wavelengths. Since these materials are still relatively unknown in engineering, new gripping constructions can be developed from them that function in entirely different ways than more established concepts. So far, the movements of such photomechanical polymer films or composites with regard to the forces generated, dynamic bending kinematics and the shape dependence of the bending have been very little researched. For this reason, we plan a broad experimental approach to gain fundamental insights into the properties of such materials and systems. The overall goals of this project are therefore (1) the structural investigation of two types of biological gripping systems; (2) quantification of the forces and bending kinematics generated; (3) design of biologically inspired claws and testing of their kinematic performance; (4) design of new photomechanical composite systems (pmCS); (5) Implementation of the pmCS in the soft robots. In addition, we aim to develop biologically-based concepts in order to serve the soft robotics community that is establishing itself in this SPP, as well as to make the new materials available to other members of the soft robotics community.