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Bionic fishtail structure based on PVC gel artificial muscle driving

A kind of artificial muscle and gel technology, applied in the field of bionic robots, can solve the problems of easy breakdown, slow response speed, small driving force, etc., and achieve the effect of meeting performance requirements and simple driving mode

Active Publication Date: 2020-11-03
XI AN JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Typical artificial muscle materials such as Dielectric Elastomer (DE for short) and Ionic Polymer-Metal Composites (IPMC for short) are relatively common. In contrast, IPMC materials have a driving voltage Low (1 ~ 5V), flexible, light weight, good biocompatibility, etc., but the driving force is small, the response speed is slow; DE material has the advantages of large output force, fast response speed, etc., but up to thousands of volts The shortcomings of working voltage and easy breakdown make it difficult to promote the use in the drive of soft robots

Method used

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  • Bionic fishtail structure based on PVC gel artificial muscle driving
  • Bionic fishtail structure based on PVC gel artificial muscle driving
  • Bionic fishtail structure based on PVC gel artificial muscle driving

Examples

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Effect test

preparation example Construction

[0048] The preparation process of PVC gel film 7 is as follows:

[0049] Use PVC particles with a degree of polymerization > 3600 (preferably PVC particles with a degree of polymerization of 4400), mix them with the plasticizer dibutyl adipate (DBA) at a mass ratio of 1: (1 to 14), and add after mixing The organic solvent tetrahydrofuran is diluted, and the mass ratio of the mixture to tetrahydrofuran is 1: (1-14). Finally, a PVC gel film with a thickness of 100-500 μm is prepared by casting a film.

[0050] The anode 8 adopts steel wire mesh or conductive mesh yarn, overlaps and aligns the multi-layer 300mm*300mm steel mesh flat sheets, clamps and fixes its edges on the CNC wire cutting machine, and processes the size through wire cutting. There is 5mm*5mm in the middle of one end Lug the positive electrode of the steel mesh. Clean the wire mesh electrode with deionized water and ethanol successively, remove residual chips and cutting fluid, and dry and store; it can ensure ...

Embodiment 1

[0065] see image 3 , first make a PVC gel film, weigh PVC particles and plasticizer dibutyl oxalate (DBA) and mix them with a mass ratio of 1:4, then add tetrahydrofuran after mixing, the mass P ratio of the mixture mass and tetrahydrofuran 1:4, stir evenly, and prepare a 300 μm thick PVC gel film through the film building or glue homogenization process of the glue homogenizer;

[0066] The anode mesh electrode 8 uses 60-mesh stainless steel metal mesh, and the cathode plane electrode uses 0.02mm copper foil;

[0067] see image 3 , with the PVC gel film 7 as the core layer, the anode electrode 8, the PVC gel film 7 and the cathode electrode 6 are stacked in a sandwich structure to obtain the PVC gel drive unit 9;

[0068] Stack the single-layer PVC gel drive unit 9 to obtain the PVC gel drive module 3.

[0069] see figure 2 , according to the propulsion theory of the central fin or pair of fins, the optimum water striking angle should be 20 to 25 degrees, which is more ...

Embodiment 2

[0082] Please combine image 3 , first make a PVC gel film, weigh PVC particles and plasticizer dibutyl oxalate (DBA) and mix them with a mass ratio of 1:8, add tetrahydrofuran after mixing, the mass P ratio of the mixture quality and tetrahydrofuran 1:8, stir evenly, and prepare a 200 μm thick PVC gel film by building a film or a homogenizing process with a homogenizer;

[0083] The anode mesh electrode 1 uses 80-mesh stainless steel metal mesh, and the cathode plane electrode uses 0.04 copper foil;

[0084] combine image 3 , with the PVC gel film 7 as the core layer, the anode electrode 8, the PVC gel film 7 and the cathode electrode 6 are stacked in a sandwich structure to obtain the PVC gel driving unit 9; the single-layer PVC gel driving unit 9 is carried out Stack to get PVC gel drive module 3.

[0085] see figure 2 , according to the MPF propulsion theory, the optimum water striking angle should be 20-25 degrees, which is more appropriate. The bionic fishtail is ...

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Abstract

The invention discloses a bionic fishtail structure based on PVC gel artificial muscle driving. The bionic fishtail structure comprises a multi-joint bionic fishtail framework, a plurality of PVC gelartificial muscle driving modules, a tail fin, a tail end, a skin and other accessories. The bionic fishtail framework is composed of a pre-pressing block, a joint shaft and an installation groove. Each PVC gel artificial muscle driving module is composed of a plurality of PVC gel driving units, wherein an anode, a PVC gel film and a cathode form one PVC gel driving unit; the two PVC gel driving modules and the bionic fishtail skeleton form a driving joint. Based on the structure, bending deformation is driven in a left-right alternating mode, and therefore swing is generated.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a bionic fishtail structure driven by PVC gel artificial muscles. Background technique [0002] With the rapid development of my country's underwater exploration technology, the demand for underwater vehicles in the military, life, and cultural fields is increasing, and the research on new underwater navigation robots based on new materials and new structures has ushered in more vigorous development. As an integration of modern underwater high-tech instruments and equipment, underwater robots have broad application prospects and great potential value in military, civilian, scientific research and other fields. Traditional bionic underwater robots are mainly driven by motors, which have the advantages of large driving force and convenient control, but have disadvantages such as complex structure, rigid movements, low flexibility, and high noise, making it difficu...

Claims

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Application Information

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IPC IPC(8): B63H1/36B63C11/52
CPCB63H1/36B63C11/52
Inventor 朱子才杜洋李修远王欣宁徐雪杰
Owner XI AN JIAOTONG UNIV
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