Abstract
Electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a jet flow (ECF jet) when subjected to high DC voltage. It is known that a strong ECF jet is generated under nonuniform electric field, for example, the field with a pair of needle and ring electrode. This study introduces the ECF jet to develop a novel robot finger. First, we propose a concept of the robot finger which mainly consists of an ECF jet generator, a bending actuator and an ECF tank. The robot finger is driven by ECF jet, and integrated with a pump and a tank. Next, we characterize the ECF jet generator and confirm the effect of the variation of electrode gap and number of electrode pair on its performance. Finally, we investigate the characteristics of the robot finger. The length, the diameter, and the mass of the robot finger are 25 mm, 5 mm, and 3.8 g, respectively. The robot finger can move 27.8 mm in x direction and 26.7 mm in y direction at 3.1 s when ECF jet generator is applied at 6.0 kV.
| Original language | English |
|---|---|
| Pages (from-to) | 3689-3695 |
| Number of pages | 7 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 76 |
| Issue number | 772 |
| Publication status | Published - 2010 Dec |
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Keywords
- Actuator
- Electro-Conjugate fluid
- Functional fluid
- Micro-Mechanism
- Robot finger
- Robot hand
- Soft actuator
ASJC Scopus subject areas
- Mechanical Engineering
- Mechanics of Materials
- Industrial and Manufacturing Engineering
Cite this
A robot finger with integrated pump/tank using electro-conjugate fluid. / Yamaguchi, Akihiro; Takemura, Kenjiro; Yokota, Shinichi; Edamura, Kazuya.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 76, No. 772, 12.2010, p. 3689-3695.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A robot finger with integrated pump/tank using electro-conjugate fluid
AU - Yamaguchi, Akihiro
AU - Takemura, Kenjiro
AU - Yokota, Shinichi
AU - Edamura, Kazuya
PY - 2010/12
Y1 - 2010/12
N2 - Electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a jet flow (ECF jet) when subjected to high DC voltage. It is known that a strong ECF jet is generated under nonuniform electric field, for example, the field with a pair of needle and ring electrode. This study introduces the ECF jet to develop a novel robot finger. First, we propose a concept of the robot finger which mainly consists of an ECF jet generator, a bending actuator and an ECF tank. The robot finger is driven by ECF jet, and integrated with a pump and a tank. Next, we characterize the ECF jet generator and confirm the effect of the variation of electrode gap and number of electrode pair on its performance. Finally, we investigate the characteristics of the robot finger. The length, the diameter, and the mass of the robot finger are 25 mm, 5 mm, and 3.8 g, respectively. The robot finger can move 27.8 mm in x direction and 26.7 mm in y direction at 3.1 s when ECF jet generator is applied at 6.0 kV.
AB - Electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a jet flow (ECF jet) when subjected to high DC voltage. It is known that a strong ECF jet is generated under nonuniform electric field, for example, the field with a pair of needle and ring electrode. This study introduces the ECF jet to develop a novel robot finger. First, we propose a concept of the robot finger which mainly consists of an ECF jet generator, a bending actuator and an ECF tank. The robot finger is driven by ECF jet, and integrated with a pump and a tank. Next, we characterize the ECF jet generator and confirm the effect of the variation of electrode gap and number of electrode pair on its performance. Finally, we investigate the characteristics of the robot finger. The length, the diameter, and the mass of the robot finger are 25 mm, 5 mm, and 3.8 g, respectively. The robot finger can move 27.8 mm in x direction and 26.7 mm in y direction at 3.1 s when ECF jet generator is applied at 6.0 kV.
KW - Actuator
KW - Electro-Conjugate fluid
KW - Functional fluid
KW - Micro-Mechanism
KW - Robot finger
KW - Robot hand
KW - Soft actuator
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UR - http://www.scopus.com/inward/citedby.url?scp=79953179699&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:79953179699
VL - 76
SP - 3689
EP - 3695
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 772
ER -