机械科学与技术2025，Vol.44Issue(5)：792-797,6.DOI:10.13433/j.cnki.1003-8728.20230198
可控变刚度液晶弹性体驱动柔性抓手研究
Study on Controllable and Stiffness-Variable Soft Gripper Driven by Liquid Crystal Elastomer
摘要
Abstract
Soft gripper has attracted increasing attention because of its superior adaptability and excellent protection ability for grasping precise,fragile and vulnerable parts.However,it is still challengeable to realize the simple control of the soft gripper and multi-steady driving.In this paper,a soft gripper with variable stiffness is proposed,thereby the flexible fingers consist of liquid crystal elastomer material with active shrinkage deformation and variable stiffness material thermoplastic polyurethane elastomer(TPU)with phase transformation.Through partially heating different blocks of the flexible fingers,the stiffness of the material can be controlled to realize finger's bending.Particularly,a bending angle variation of 110° can be achieved under a heating power of 2 W,while it can recover to normal state within 70 s.Demonstration of the soft gripper has verified the performance of variable stiffness and bending movement of the flexible fingers.关键词
液晶弹性体/热塑性材料/变刚度/柔性抓手Key words
liquid crystal elastomer/thermoplastic material/variable stiffness/soft gripper分类
机械工程引用本文复制引用
赵晓东,黎相孟,康政,仝哲..可控变刚度液晶弹性体驱动柔性抓手研究[J].机械科学与技术,2025,44(5):792-797,6.基金项目
国家自然科学基金项目(51975540)、山西省基础研究计划(20210302123013,20210302124112)及机械制造系统工程国家重点实验室开放课题(sklms2022012) （51975540）
