Photomechanical Soft Grippers

照相机械软夹具

• 批准号: 405032442
• 负责人: Professor Dr. Stanislav N. Gorb
• 金额: --
• 依托单位: Otto Diels - Institut für Organische Chemie
• 依托单位国家: 德国
• 项目类别: Priority Programmes
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/405032442?language=en
• 关键词: Photomechanical; Soft; Grippers

We develop bio-inspired gripping devices made of soft materials with elastic moduli in the MPa range. For this, we use new photomechanical soft polymers or polymer composites, which can change their shape quickly in a predefined, completely contactless way through the use of light of certain wavelengths. Since these materials are still relatively unknown in engineering, new gripping constructions can be developed from them that function in entirely different ways than more established concepts. So far, the movements of such photomechanical polymer films or composites with regard to the forces generated, dynamic bending kinematics and the shape dependence of the bending have been very little researched. For this reason, we plan a broad experimental approach to gain fundamental insights into the properties of such materials and systems. The overall goals of this project are therefore (1) the structural investigation of two types of biological gripping systems; (2) quantification of the forces and bending kinematics generated; (3) design of biologically inspired claws and testing of their kinematic performance; (4) design of new photomechanical composite systems (pmCS); (5) Implementation of the pmCS in the soft robots. In addition, we aim to develop biologically-based concepts in order to serve the soft robotics community that is establishing itself in this SPP, as well as to make the new materials available to other members of the soft robotics community.

我们开发由弹性模量在 MPa 范围内的软材料制成的仿生抓取装置。为此，我们使用新型光机械软聚合物或聚合物复合材料，它们可以通过使用特定波长的光以预定义的、完全非接触的方式快速改变其形状。由于这些材料在工程中仍然相对未知，因此可以利用它们开发出新的抓握结构，其功能与更成熟的概念完全不同。到目前为止，这种光机械聚合物薄膜或复合材料的运动在产生的力、动态弯曲运动学和弯曲的形状依赖性方面的研究很少。因此，我们计划采用广泛的实验方法来深入了解此类材料和系统的特性。因此，该项目的总体目标是（1）两种类型的生物抓取系统的结构研究； (2) 产生的力和弯曲运动学的量化； (3)仿生爪的设计及其运动性能测试； （4）新型光机械复合系统（pmCS）的设计； (5)pmCS在软体机器人中的实现。此外，我们的目标是开发基于生物学的概念，以便为在该 SPP 中建立的软机器人社区提供服务，并将新材料提供给软机器人社区的其他成员。