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Title:
4D PRINTING-BASED FLEXIBLE FINGER JOINT GRIPPER AND TRAJECTORY TRACKING CONTROL METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2021/184461
Kind Code:
A1
Abstract:
The present invention relates to a 4D printing-based flexible finger joint gripper and a trajectory tracking control method therefor. The 4D printing-based flexible finger joint gripper comprises a palm unit and five finger units connected to the palm unit; each finger unit comprises two flexible finger joints and two phalanges, each flexible finger joint is divided into upper and lower LCE liquid crystal elastomers, and the LCE liquid crystal elastomers are used for realizing bidirectional bending movement of the finger units. According to the present invention, the flexible finger joint gripper can be accurately controlled.

Inventors:
WEN YINTANG (CN)
YAO HAIYING (CN)
LUO XIAOYUAN (CN)
ZHANG YUYAN (CN)
LIANG XI (CN)
LIANG BO (CN)
Application Number:
PCT/CN2020/084391
Publication Date:
September 23, 2021
Filing Date:
April 13, 2020
Export Citation:
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Assignee:
UNIV YANSHAN (CN)
International Classes:
B25J15/00; B25J9/16
Foreign References:
CN109249415A2019-01-22
CN108132602A2018-06-08
CN109986594A2019-07-09
CN104035337A2014-09-10
Attorney, Agent or Firm:
BEIJING GAOWO LAW FIRM (CN)
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