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相关概念视频

Mechanisms of Membrane-bending01:15

Mechanisms of Membrane-bending

The living membranes are flexible due to their fluid mosaic nature; however, their bending into different shapes is an active process regulated by specific lipids and proteins. The membrane bending can be transient as seen in vesicles or stable for a long time as in microvilli. Cells regulate the size, location, and duration of the membrane curvature.
Membrane bending can happen due to intrinsic changes in lipid composition or extrinsic association with different proteins. The proteins involved...
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Aggregate shape is classified based on the relative sharpness or roundness of the edges and corners. This classification includes categories like rounded, angular, elongated, and flaky, each with specific characteristics. Rounded aggregates, fully shaped by attrition, are typical of river or seashore gravel, while angular aggregates, such as crushed rock, have well-defined edges. Aggregates that are elongated and flaky are less desirable, as they can reduce the workability and strength of...

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Updated: Jun 21, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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玻璃形状的形状记忆基于聚合物的指尖用于自适应抓取.

Seyedreza Kashef Tabrizian1, Walter Alabiso2, Usman Shaukat2

  • 1Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium.

Frontiers in robotics and AI
|July 28, 2023
PubMed
概括
此摘要是机器生成的。

研究人员开发了基于聚合物的3D打印形状记忆形状适应指尖 (SMP-SAF),以应对机器人掌握的挑战. 这些指尖适应形状和刚性,以便在没有连续的外部电源的情况下有效操纵各种物体.

关键词:
适应性的抓取方式添加剂制造 添加剂制造 添加剂制造操纵 操纵 操纵 操纵形状适应指尖的指尖形状记忆的聚合物聚合物.

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科学领域:

  • 材料科学 材料科学 材料科学
  • 机器人技术 机器人技术 机器人技术
  • 聚合物化学 聚合物化学

背景情况:

  • 对象形状和尺寸的变化对传统的两指机器人抓手来说是一个重大挑战.
  • 现有的机器人抓器往往缺乏适应能力,无法安全地操纵各种几何形状的物体.
  • 玻璃体化学提供了一条通往动态共价键的途径,使得聚合物机械性质的可逆变化成为可能.

研究的目的:

  • 设计和开发机器人抓手的新型形状适应指尖.
  • 为了使机器人抓手能够有效地抓住各种形状和大小的物体.
  • 为了创建具有形状记忆属性和可变刚性的指尖,以确保对象的安全操作.

主要方法:

  • 基于3D打印的形状记忆聚合物基础的形状适应指尖 (SMP-SAF) 的两个设计是基于玻璃化学的.
  • 设计1有一个曲面部分用于微妙的物体,在最初的抓手力应用后通过形状记忆激活.
  • 设计2使用一个直线部分,通过接触力与硬物体相适应,简化了形状编程.

主要成果:

  • SMP-SAFs表现出其适应不同物体形状的能力.
  • 指尖表现出可变的刚性,在没有连续的外部触发的情况下在冷却时锁定其适应的形状.
  • 编程涉及通过朱尔加热或热枪加热至高于玻璃过渡温度 (54°C),然后进行重塑和冷却.

结论:

  • 开发的SMP-SAF为机器人抓住各种物体提供了一个有希望的解决方案.
  • 形状适应性和可变刚性特征增强了对脆弱和硬物体的操纵能力.
  • 这种技术适用于适应性分类线,其中对象品种在批次中发生变化,而不是每次.