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软体机器人可在大范围内任意改变自身形状与尺寸,对非结构化环境具有极强的适应性,在军事侦察、救援及医疗手术等领域具有广阔的应用前景.本文提出了一种基于离子液凝胶(ionogel,IG)的新型自驱动仿生软体机器人操作手.首先设计了IG软体驱动器,阐述了材料制备原理,在此基础上讨论了软体机器人机构设计方法;然后对IG驱动器变形机理进行深入分析;最后以驱动器为基本变形模块设计了软体操作手.实验结果表明,IG驱动器具有良好的驱动性能,软体操作手在3.5 V直流电压激励下可以抓取105 mg的物体.
Software robots can change their shape and size arbitrarily in a wide range, have strong adaptability to unstructured environment, and have broad application prospects in the fields of military reconnaissance, rescue and medical operation, etc. In this paper, (IGO), a novel self-driven bionic soft robot manipulator was developed.Firstly, the IG software driver was designed and the principle of material preparation was described. On the basis of this, the design method of the software robot was discussed. Then, the deformation mechanism of IG actuator Finally, a software manipulator was designed based on the actuator-based deformation module.The experimental results show that the IG actuator has good driving performance, and the software operator can grasp 105 mg under the excitation of 3.5 V DC voltage.