JZUS - Journal of Zhejiang University SCIENCE

Journal of Zhejiang University SCIENCE A

Accepted manuscript available online (unedited version)

Novel soft robotic finger model driven by electrohydrodynamic (EHD) pump

Author(s): Xuehang BAI, Yanhong PENG, Dongze LI, Zhuochao LIU, Zebing MAO
Affiliation(s): Department of Mechanical, Automotive and Materials Engineering, Faculty of Engineering, University of Windsor, Windsor N9B 3P4, Canada; more
Corresponding email(s): mao.z.aa@yamaguchi-u.ac.jp
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Xuehang BAI, Yanhong PENG, Dongze LI, Zhuochao LIU, Zebing MAO. Novel soft robotic finger model driven by electrohydrodynamic (EHD) pump[J]. Journal of Zhejiang University Science A,in press.Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/jzus.A2300479

@article{title="Novel soft robotic finger model driven by electrohydrodynamic (EHD) pump",
author="Xuehang BAI, Yanhong PENG, Dongze LI, Zhuochao LIU, Zebing MAO",
journal="Journal of Zhejiang University Science A",
year="in press",
publisher="Zhejiang University Press & Springer",
doi="https://doi.org/10.1631/jzus.A2300479"
}

%0 Journal Article
%T Novel soft robotic finger model driven by electrohydrodynamic (EHD) pump
%A Xuehang BAI
%A Yanhong PENG
%A Dongze LI
%A Zhuochao LIU
%A Zebing MAO
%J Journal of Zhejiang University SCIENCE A
%P 596-604
%@ 1673-565X
%D in press
%I Zhejiang University Press & Springer
doi="https://doi.org/10.1631/jzus.A2300479"

TY - JOUR
T1 - Novel soft robotic finger model driven by electrohydrodynamic (EHD) pump
A1 - Xuehang BAI
A1 - Yanhong PENG
A1 - Dongze LI
A1 - Zhuochao LIU
A1 - Zebing MAO
J0 - Journal of Zhejiang University Science A
SP - 596
EP - 604
%@ 1673-565X
Y1 - in press
PB - Zhejiang University Press & Springer
ER -
doi="https://doi.org/10.1631/jzus.A2300479"

Abstract
Chinese Summary
Academic Network
Reviewer Comment

Abstract: This study investigates the performance of an EHD robotic finger joint through an experimental design. First, the robotic finger joint is successfully manufactured, then experiments of fulfilling the bending function are conducted on the structure. Meanwhile, the angle of bending and the voltage of electrification are recorded as raw data. Finally, the relationship between two variables is determined and analyzed.

电流体泵驱动的新型软机器人手指模型

作者：白雪航¹，彭彦鸿²，李东泽³，刘卓超⁴，毛泽兵⁵
机构：¹温莎大学，工程系，加拿大温莎，N9B 3P4；²名古屋大学，工程学院，日本名古屋，464-8601；³青岛大学，计算机科学与技术学院，中国青岛，266071；⁴北京科技大学设计研究院有限公司，中国北京，100083；⁵山口大学，工学部，日本山口，755-8611
目的：在机器人与人类交互领域，软机器人提供了增强的安全性和适应性。该领域的一个主要挑战是将软执行器与泵系统集成。本研究旨在通过电场感应的介电流体流动，使机器人手指结合嵌入纯软电流体动力学（EHD）泵的柔性橡胶板，从而引起机器人手指的受控弯曲运动；并推导全面的数学模型，以准确描述手指机器人的机械表现。
创新点：1.赋予EHD泵驱动机器手指更加便捷的结构，并进行测试；2.提出了一个全面的数学模型来弥合EHD泵系统和手指动力学之间的差距，使该模型能准确描述从EHD驱动机构到机器人机械动作的整个系统。
方法：1.介绍手指机器人的结构（图1）；2.详细阐述加工过程；3.通过数学建模，提出一个全面的数学模型来弥合EHD泵系统和手指动力学之间的误差，以准确描述从EHD驱动机构到机器人机械动作的整个系统（图2）；4.通过实验验证理论模型的有效性（图5）。
结论：1.本研究的模型将EHD泵的电气特性（电压输入）与机器人机构的几何约束（偏转角）联系起来，使该模型的有效性得到验证；2.机器手指关节在10 kV下实现的最大弯曲角度为37°，证明了所提出的设计和方法的有效性。

关键词组：理论建模；机器人手指；EHD驱动

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电流体泵驱动的新型软机器人手指模型

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