Micro flexible robot hand using electro-conjugate fluid

S. Ueno, Kenjiro Takemura, S. Yokota, K. Edamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

An electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a flow (ECF flow) when subjected to high DC voltage. Since it only requires a tiny electrode pair in micrometer size in order to generate the ECF flow, the ECF is a promising micro fluid pressure source. This study proposes a novel micro robot hand using the ECF. The robot hand is mainly composed of five flexible fingers and an ECF flow generator. The flexible finger is made of silicone rubber having several chambers in series along its axis. When the chambers are depressurized, the chambers deflate resulting in making the actuator bend. On the other hand, the ECF flow generator has a needle-ring electrode pair inside. When putting the ECF flow generator into the ECF and applying voltage of 6.0 kV to the electrode pair, we can obtain the pressure of 33.1 kPa. Using the components mentioned above, we developed the ECF robot hand. The height, the width and the mass of the robot hand are 45 mm, 40 mm and 5.2 g, respectively. Since the actuator is flexible, the robot hand can grasp various objects with various shapes without complex controller.

Original languageEnglish
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
Volume8923
DOIs
Publication statusPublished - 2013
EventMicro/Nano Materials, Devices, and Systems - Melbourne, VIC, Australia
Duration: 2013 Dec 92013 Dec 11

Other

OtherMicro/Nano Materials, Devices, and Systems
CountryAustralia
CityMelbourne, VIC
Period13/12/913/12/11

Fingerprint

end effectors
End effectors
Robot
Robots
Fluid
Flow of fluids
Fluids
fluids
fluid flow
Fluid Flow
Electrode
Electrodes
generators
chambers
Actuators
Generator
Silicone Elastomers
electrodes
Actuator
Electric potential

Keywords

  • electro-conjugate fluid
  • flexible actuator
  • robot hand

ASJC Scopus subject areas

  • Applied Mathematics
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics

Cite this

Ueno, S., Takemura, K., Yokota, S., & Edamura, K. (2013). Micro flexible robot hand using electro-conjugate fluid. In Proceedings of SPIE - The International Society for Optical Engineering (Vol. 8923). [89234U] https://doi.org/10.1117/12.2033778

Micro flexible robot hand using electro-conjugate fluid. / Ueno, S.; Takemura, Kenjiro; Yokota, S.; Edamura, K.

Proceedings of SPIE - The International Society for Optical Engineering. Vol. 8923 2013. 89234U.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ueno, S, Takemura, K, Yokota, S & Edamura, K 2013, Micro flexible robot hand using electro-conjugate fluid. in Proceedings of SPIE - The International Society for Optical Engineering. vol. 8923, 89234U, Micro/Nano Materials, Devices, and Systems, Melbourne, VIC, Australia, 13/12/9. https://doi.org/10.1117/12.2033778
Ueno S, Takemura K, Yokota S, Edamura K. Micro flexible robot hand using electro-conjugate fluid. In Proceedings of SPIE - The International Society for Optical Engineering. Vol. 8923. 2013. 89234U https://doi.org/10.1117/12.2033778
Ueno, S. ; Takemura, Kenjiro ; Yokota, S. ; Edamura, K. / Micro flexible robot hand using electro-conjugate fluid. Proceedings of SPIE - The International Society for Optical Engineering. Vol. 8923 2013.
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