面向软体机器人的静电驱动软体泵  

Electrostatic-driven Soft Pump for Soft Robots

作　　者：杨小李 暴文婧 胡慧娟 金滔 李龙[1,2] 田应仲 YANG Xiaoli;BAO Wenjing;HU Huijuan;JIN Tao;LI Long;TIAN Yingzhong

机构地区：[1]上海大学机电工程与自动化学院 [2]上海市智能制造及机器人重点试验室 [3]上海卫星工程研究院

出　　处：《计量与测试技术》2025年第1期100-103,共4页Metrology & Measurement Technique

摘　　要：软体机器人和驱动器因材料的柔韧性,实现了传统刚性机器人难以完成的应用,在复杂和动态环境中的表现尤为突出。由于传统刚性泵的体积、重量和噪音限制了其机动性和柔顺性。因此,本文提出一种三电极静电驱动的软体泵,将内部封装电极的中间层隔膜作为双向回复的可动部件,并进行试验验证。结果表明:该设计不仅提升了泵的性能和效率,而且提高了与软体机器人的连接适应性。Due to the flexibility of the material,soft robots and actuators achieve applications that are difficult for traditional rigid robots,especially in complex and dynamic environments.Due to the size,weight and noise of traditional rigid pumps,their maneuverability and flexibility are limited.Therefore,a three-electrode electrostatically driven soft pump is proposed in this paper,and the middle layer diaphragm encapsulated inside the electrode is used as the movable part of bidirectional recovery.The results show that the design not only improves the performance and efficiency of the pump,but also improves the adaptability of the connection with the soft robot.

关 键 词：软体机器人 软体泵 静电驱动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]