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.

我们开发了由弹性模量在MPA范围内的软材料制成的生物启发的夹杂设备。为此，我们使用新的光机械软聚合物或聚合物复合材料，可以通过使用某些波长的光快速改变其形状。由于这些材料在工程学中仍然相对尚不清楚，因此可以从它们中开发出具有与更具成熟概念完全不同的作用的新夹具结构。到目前为止，对于产生的力，动态弯曲运动学和弯曲的形状依赖性，这种光学机械聚合物膜或复合材料的运动很少受到研究。因此，我们计划一种广泛的实验方法，以获得对此类材料和系统特性的基本见解。因此，该项目的总体目标是（1）对两种类型的生物夹杂系统的结构研究； （2）产生的力和弯曲运动学的定量； （3）设计生物学启发的爪子并测试其运动学性能； （4）新的光学复合系统（PMC）的设计； （5）在软机器人中实现PMC。此外，我们旨在开发基于生物学的概念，以服务于在SPP中建立自己的软机器人社区，并使新材料可供软机器人社区的其他成员使用。