Research On The Performance Of Flexible Electromagnetic Gel Actuator And Application Of Bionic Finger

Under the premise that the current society's demand for robots is becoming higher and higher,and the construction of environmentally friendly society in various countries around the world,energy-saving and environmentally friendly,green,pollution-free,and adaptable robots have received more and more attention.Robots have received the most attention.In this paper,by studying the characteristics of electroactive polymers,the electroactive polymers are fused and reshaped,a new type of electromagnetically driven electromagnetic gel driver is designed and manufactured,and bionic flexible manipulators are manufactured with this driver.This flexible manipulator has the advantages of low energy consumption,high degree of freedom,low cost and fast response speed.In this paper,the design and research of flexible manipulators in terms of materials,craftsmanship and driving are modeled on the structure and motion principle of human fingers.First,the method and the optimal ratio of chitosan,cellulose,sodium alginate,chitosan/sodium alginate gel are explored by controlling a single variable.Mainly use scanning electron microscope(SEM),X-ray diffraction(XRD),Fourier infrared spectroscopy(FT-IR)and various test methods in electrochemical workstations to test and compare the internal structure arrangement and macroscopic of different proportions of electromagnetic gel 3.Screen the electromagnetic gel for various microscopic properties.Secondly,the mechanical properties of the electromagnetic gel drive need to be tested.Electromagnetic gels prepared by different process conditions have different performances,and it is necessary to conduct preliminary tests on the electromagnetic gel driver,and the electromagnetic gel driver with excellent mechanical properties is selected through the test results.The main test methods are also divided into two parts:macro test and micro test.After the test,draw a graph according to the test data,and make a more intuitive comparison in the graph.Third,the driving form and structure design of the flexible electromagnetic gel manipulator are carried out.According to the previous performance tests on the electromagnetic gel driver,the performance of the electromagnetic gel driver based on sodium alginate is the best and most in line with the design goals of the electromagnetic gel flexible bionic finger in this paper.This kind of gel has high flexibility,high toughness and high elasticity,it is not easy to damage the stressed objects and has a long service life,and it has reached several times the output force and output displacement of the other types of gels.The driving form designed in this paper is electric and magnetic hybrid driving,which is tested by the self-built flexible manipulator performance test platform.The electromagnetic gel flexible bionic finger using this driving form has greatly improved the corresponding speed and maximum output displacement.Finally,through the best process flow of the sodium alginate gel analyzed in the previous test,a bionic flexible sodium alginate electromagnetic gel finger was constructed,and a bionic flexible finger test platform was built to measure the maximum weight and response that the bionic flexible finger can lift.Speed and multi-degree-of-freedom testing.Experiments were carried out on these aspects separately to verify the flexibility,versatility and security of human-computer interaction of the bionic flexible fingers.