PVC凝胶驱动及CNT/PDMS传感一体化柔性抓手的研究

罗斌 1; 2; 李小兰 1; 徐雪杰 2; 陈花玲 2; 朱子才 2

doi:10.7652/xjtuxb202012004

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PVC凝胶驱动及CNT/PDMS传感一体化柔性抓手的研究

更新时间：2025-07-09

- PVC凝胶驱动及CNT/PDMS传感一体化柔性抓手的研究
- Integrated Polyvinyl Chloride(PVC)Gel Actuating and CNT/PDMS Sensing Structure for Flexible Gripper
- 西安交通大学学报 2020年54卷第12期页码：30-36
- 作者机构：
  
  1. 邵阳学院机械与能源工程学院,湖南,邵阳,422000
  2. 西安交通大学机械工程学院,西安,710049
- 作者简介：
- 基金信息：
  
  : 2020-04-25。作者简介: 罗斌(1987—),男,博士,副教授;陈花玲(通信作者),女,教授,博士生导师。基金项目: 国家自然科学基金资助项目(91648110);湖南省教育厅优秀青年科学资助项目(19B515);湖南省自然科学基金青年资助项目(2020jj5520)
- DOI：10.7652/xjtuxb202012004
  中图分类号： TP24;TP331
- 网络首发：2020-12-10，
  
  纸质出版：2020
- 稿件说明：
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罗斌 1, 2, 李小兰 1, 等. PVC凝胶驱动及CNT/PDMS传感一体化柔性抓手的研究[J]. 西安交通大学学报, 2020,54(12):30-36.

Integrated Polyvinyl Chloride(PVC)Gel Actuating and CNT/PDMS Sensing Structure for Flexible Gripper[J]. 2020, 54(12): 30-36.
罗斌 1, 2, 李小兰 1, 等. PVC凝胶驱动及CNT/PDMS传感一体化柔性抓手的研究[J]. 西安交通大学学报, 2020,54(12):30-36. DOI： 10.7652/xjtuxb202012004.

Integrated Polyvinyl Chloride(PVC)Gel Actuating and CNT/PDMS Sensing Structure for Flexible Gripper[J]. 2020, 54(12): 30-36. DOI： 10.7652/xjtuxb202012004.

摘要

鉴于目前关于软体机器人的研究大多仅致力于软活性材料的驱动功能

忽视了传感功能

研究一款集驱动与传感一体化的柔性抓手机器人。首先研究PVC凝胶驱动器结构设计与制备工艺

然后研究CNT/PDMS柔性传感结构的制造工艺

在此基础上

以PVC凝胶驱动器作为柔性抓手的驱动单元

以CNT/PDMS立体结构作为柔性抓手的传感单元

设计出一款具有驱动与传感一体化的功能结构

并对该功能结构进行测试。研究结果表明:在施加800 V直流电压下单根手指的弯曲角度可达32.5°; 在400 V直流电压驱动下

由两根柔性手指构成的抓手能够抓取直径为15 mm、邵氏硬度分别为10～20、30～50的易变形的硅橡胶圆柱体; 在抓取不同硬度的圆柱体时

CNT/PDMS的电阻变化率亦不同

表明CNT/PDMS柔性传感结构可以感知抓取物体的软硬度

证明了本研究关于驱动及传感一体化结构设计的可行性。该研究可为后续软体机器人的设计及制造提供参考。

Abstract

In view of the research status that most of the current studies in the field of soft robots only focus on the actuating function of soft active materials but ignore the sensing function

an actuating/sensing integrated flexible gripper robot is developed. Exploring the structural design and fabrication process of polyvinyl chloride gel actuator

a manufacturing process of CNT/PDMS flexible sensing structure is then investigated. An actuating/sensing integrated functional structure is designed and manufactured

where the PVC gel actuators are taken as the actuating units and the CNT/PDMS 3D structures as the sensing units. The results show that the bending angle of single finger can reach 32.5 degrees under 800 V DC voltage. Driven by 400 V DC voltage

the gripper consisting of two flexible fingers can grasp deformable silicone rubber cylinders with a diameter of 15 mm and shore hardness of 10 - 20

30 - 50 respectively. As grasping the cylinders with different hardness

the resistance change rates of CNT/PDMS demonstrate differently

indicating that the CNT/PDMS flexible sensing structure can sense the softness and hardness of the grasped object

thus verifying the feasibility of the design of actuating/sensing integrated structure proposed in this approach. The results may offer reference for following design and fabrication of the soft robots.

关键词

Keywords

references

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