Conclusions
In summary, this work has pioneered the integration of an EHD robotic finger that incorporates a flexible rubber sheet embedded with soft EHD pumps. The model of this study links the electrical characteristics of the EHD pump (voltage input) with the geometric constraints of the robotic mechanism (deflection angle). The validity of this model has been empirically demonstrated. Our research findings primarily revolve around the manipulation of robotic arms and grasping mechanism. The synthesis of an experimental design and a comprehensive mathematical model showcases the potential of EHD pump-driven soft robotic applications ranging from delicate medical procedures to agile manufacturing processes. Moreover, the achieved maximum bending angle of 37° at 10 kV stands as a testament to the effectiveness of the proposed design and methodology. As an important foundation work in the realm of soft robotics, this research intends to serve as a catalyst for subsequent investigations in EHD pump-robot systems. Noteworthy examples include precision grasping in robotics, complex robotic hand operations, and promoting human-robot collaboration.
摘要
目 的
在机器人与人类交互领域, 软机器人提供了增强的安全性和适应性. 该领域的一个主要挑战是将软执行器与泵系统集成. 本研究旨在通过电场感应的介电流体流动, 使机器人手指结合嵌入纯软电流体动力学(EHD)泵的柔性橡胶板, 从而引起机器人手指的受控弯曲运动; 并推导全面的数学模型, 以准确描述手指机器人的机械表现.
创新点
1. 赋予EHD泵驱动机器手指更加便捷的结构, 并进行测试; 2. 提出了一个全面的数学模型来弥合EHD泵系统和手指动力学之间的差距, 使该模型能准确描述从EHD驱动机构到机器人机械动作的整个系统.
方 法
1. 介绍手指机器人的结构(图1); 2.详细阐述加工过程; 3. 通过数学建模, 提出一个全面的数学模型来弥合EHD泵系统和手指动力学之间的误差, 以准确描述从EHD驱动机构到机器人机械动作的整个系统(图2); 4. 通过实验验证理论模型的有效性(图5).
结 论
1. 本研究的模型将EHD泵的电气特性(电压输入)与机器人机构的几何约束(偏转角)联系起来, 使该模型的有效性得到验证; 2. 机器手指关节在10 kV下实现的最大弯曲角度为37°, 证明了所提出的设计和方法的有效性.
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Authors and Affiliations
Contributions
Xuehang BAI and Yanhong PENG processed the corresponding data and wrote the first draft of the manuscript. Dongze LI and Zhuochao LIU helped to organize the manuscript. Zebing MAO revised and edited the final version.
Corresponding author
Ethics declarations
Xuehang BAI, Yanhong PENG, Dongze LI, Zhuochao LIU, and Zebing MAO declare that they have no conflict of interest.
