This paper reports the pneumatic PDMS micro finger as an endeffector of robot. The micro finger structures consist of two PDMS films with different mixing ratio of the base polymer and curing agent. An applied air pre...
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ISBN:
(纸本)0780394828
This paper reports the pneumatic PDMS micro finger as an endeffector of robot. The micro finger structures consist of two PDMS films with different mixing ratio of the base polymer and curing agent. An applied air pressure mainly contributes to the generation of the pulling force of the top PDMS layer with excess Si-H group and the large deformation of the flexible bottom layer with excess vinyl group. This combination of the micro finger or hand with a rigid PDMS layer and a flexible one is based on the human being's finger or hand. For the proper structural design rule, in this paper, the micro finer structures with different balloon shape are fabricated and tested by a pneumatic force. While the thickness ratio of the bottom layer and the top one is about 3, the bending angle of micro finger is most sensitive to the applied air pressure. During the repeat test for about 5 hours, there are no any noticeable degradation on the bending motion and the structural failure. The hybrid motion of the micro finger with two or three degree of freedom in micro world and the guide robot in macro world is successfully realized by using VR (Virtual Realty) system.
Crosslinked poly(meth)acrylate polymers with a variety of morphologies were synthesized with two steps. In the first step, a microporous glass membrane (Shirasu Porous Glass, SPG) was employed to prepare uniform emuls...
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Crosslinked poly(meth)acrylate polymers with a variety of morphologies were synthesized with two steps. In the first step, a microporous glass membrane (Shirasu Porous Glass, SPG) was employed to prepare uniform emulsion droplets by applying an adequate pressure to the monomer phase, which was composed of the ADVN initiator, solvent of toluene or heptane or their mixture, and a mixture of (meth)acrylate monomers. The droplets were formed continuously through the membrane and suspended in the aqueous solution, which contained a PVA-127 suspending agent, SLS emulsifier, and nano 2 inhibitor to suppress the nucleation of secondary particles. SPG pore sizes of 0.90, 5.25, and 9.25 μm were used. Then the emulsion droplets were polymerized at 343 K with a rotation rate 160 rpm for 24 h. The (meth)acrylate monomers 2-ethylhexyl acrylate (2-EHA), 2-ethylhexyl methacrylate (2-EHMA), cyclohexyl acrylate (CHA), methyl methacrylate (MMA), lauryl acrylate (LA), and lauryl methacrylate (LMA) were used in this research. The influences of the ratios of the monomer and crosslinking agent EGDMA, the amount of diluents, the monomer type on the polymer particle morphology, the swelling degree, and the polymer particle size were investigated. It was found that an increase in the concentrations of EGDMA and heptane resulted in higher coarse porous spheres and smaller polymer particle sizes. A coefficient with a variation close to 10%, or a standard deviation of about 4, was obtained. The capacity of these spheres as solvent absorption materials was examined. The highest swelling degrees of heptane and toluene were obtained when LA was employed as the monomer with 30% (by weight) of EGDMA and 70% (by weight) of heptane as an inert solvent. The highest capacity of the solvent absorption was obtained when using a polymer particle size of 4.81 μm, as prepared by SPG pore size 0.9 μm. The polymer particles were able to absorb aliphatic hydrocarbon solvents, aromatic hydrocarbon solvents, and
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