Research On Gripper Robot Based Two-dimensional Material

With the rapid development of science and technology as well as economic society,robots have gradually penetrated into all aspects of human life and promoted the transformation of human society's lifestyle.In order to adapt to the application of complex environments,flexible robots came into being and developed continuously.As a bridge between the robot and the operating object,the flexible gripper plays a vital role in the interaction process of biology,flexible robot and the environment.Therefore,it has a wide range of applications in industrial production,medical care,aerospace and environmental monitoring and other fields.Advanced materials are one of the cores for the development of flexible gripper in the future.The grasping action and tactile sensing of the gripper are determined by the properties of materials.The two-dimensional material graphene and its derivatives have attracted wide attention due to their excellent mechanical,electrical,optical and thermal properties.At present,the main research content is about the structure design,preparation,application of new materials and grasping movement of the flexible gripper.There are few researches on multi-tactile sensing between gripper and operating object,and there is lacking of application of LC passive wireless reading structure for data transmission and analysis.Combining scientific research and practical application requirements,the flexible gripper,tactile sensor and passive wireless reading structure are integrated into a flexible gripper robot,which is of great significance to the research and application of robots.The bending mechanical model of typical graphene oxide/polyimide(GO/PI)bilayer film is analyzed in the thesis,and according to the principle of tactile sensor and the LC passive wireless reading structure,a gripper robot based on two-dimensional materials is designed and prepared to explore its grasping,tactile sensing and passive wireless reading performance under infrared light stimulation.After elaborating and analyzing the research background and development status of flexible grippers,the definition and classification of tactile sensors and research progress,and the application of LC passive wireless reading structure,the following research work is carried out:(1)Based on the theory of material mechanics and thermodynamics,the mechanical model of the cantilever beam bilayer film is established.Then,according to the working principle of the tactile sensor,the sandwich structure sensitive capacitance model in series form and the interdigital structure sensitive capacitance model are established,At the same time,based on the circuit model of LC passive wireless reading structure,the tactile sensing information after the bending of the gripper is extracted and analyzed,and the pre-design plan of the graipper robot is proposed.(2)According to the mechanical model of the cantilever beambilayer film,the sandwich structure sensitive capacitance model in series form of the tactile sensor,the interdigital structure sensitive capacitance model of the tactile sensor and the circuit model of LC passive wireless reading structure,the material selection and structural parameters of gripper,sensitive capacitors,and planar spiral inductances are determined combined with the relevant process constraints.The gripper robot under different external stimuli is simulated for grasping,tactile sensing and LC passive wireless reading performance,and the structural parameters are optimized based on the simulation results.(3)The process preparation and structure characterization of the two-dimensional material-based grasping robot are carried out,and the performance parameters of the gripper robot are tested under different external stimuli.The test results show that the gripper robot has good photothermal response performance,pressure sensing performance,material discrimination performance,and LC passive wireless reading performance.The variation rule of the test results is consistent with the simulation results,and the interference between each parameter test is low,which verifies the rationality and effectiveness of the device design.The two-dimensional material graphene oxide is applied to the preparation of flexible gripper,and the gripper are combined with tactile sensors to form a gripper robot.The LC passive wireless reading structure extracts and analyzes the tactile sensor data in the working process of the robot,and finally displays it intelligently,which is an innovative attempt in the research and application of flexible robots.