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1. WO2020112947 - ELECTROSTATIC-ACTUATOR-BASED, TUNABLE, SOFT ROBOTS

Publication Number WO/2020/112947
Publication Date 04.06.2020
International Application No. PCT/US2019/063531
International Filing Date 27.11.2019
IPC
H01L 41/08 2006.01
HELECTRICITY
01BASIC ELECTRIC ELEMENTS
LSEMICONDUCTOR DEVICES; ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR
41Piezo-electric devices in general; Electrostrictive devices in general; Magnetostrictive devices in general; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
08Piezo-electric or electrostrictive elements
B62D 57/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track
B62D 57/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
B62D 57/032 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
032with alternately or sequentially lifted supporting base and leg; with alternately or sequentially lifted feet or skid
H01L 41/00 2013.01
HELECTRICITY
01BASIC ELECTRIC ELEMENTS
LSEMICONDUCTOR DEVICES; ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR
41Piezo-electric devices in general; Electrostrictive devices in general; Magnetostrictive devices in general; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
H01L 41/02 2006.01
HELECTRICITY
01BASIC ELECTRIC ELEMENTS
LSEMICONDUCTOR DEVICES; ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR
41Piezo-electric devices in general; Electrostrictive devices in general; Magnetostrictive devices in general; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
02Details
CPC
B62D 57/032
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
032with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
H01L 41/00
HELECTRICITY
01BASIC ELECTRIC ELEMENTS
LSEMICONDUCTOR DEVICES; ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR
41Piezo-electric devices in general; Electrostrictive devices in general; Magnetostrictive devices in general; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
H01L 41/02
HELECTRICITY
01BASIC ELECTRIC ELEMENTS
LSEMICONDUCTOR DEVICES; ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR
41Piezo-electric devices in general; Electrostrictive devices in general; Magnetostrictive devices in general; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
02Details
H01L 41/08
HELECTRICITY
01BASIC ELECTRIC ELEMENTS
LSEMICONDUCTOR DEVICES; ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR
41Piezo-electric devices in general; Electrostrictive devices in general; Magnetostrictive devices in general; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
08Piezo-electric or electrostrictive devices
Applicants
  • THE TRUSTEES OF DARTMOUTH COLLEGE [US]/[US]
Inventors
  • JIN, Congran
  • CHEN, Zi
  • ZHANG, Jinhua
  • ZHANG, John X.J.
Agents
  • VOCK, Curtis
  • BARTON, Steven K.
  • LINK, Douglas
  • COUGHLIN, Sean M.
  • DECONTI, Giulio A.
  • ANIS, Hissan
  • JEFFRIES, James H.
  • LAMBRECHTS, Robert J.
  • POPLIN, Alan J.
  • CHEN, Xiaoyue (Peter)
  • TRINQUE, Brian C.
  • VELEMA, James H.
  • DIZEREGA, Philip
  • DELANEY, Marie J.
  • MORIARTY, Gordon R.
  • LIU, Jiangqiong (Jessica)
  • RUDOLPH, Rebecca
Priority Data
62/773,00929.11.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) ELECTROSTATIC-ACTUATOR-BASED, TUNABLE, SOFT ROBOTS
(FR) ROBOTS SOUPLES ACCORDABLES À BASE D'ACTIONNEUR ÉLECTROSTATIQUE
Abstract
(EN)
An electrostatic actuator has a first polymeric layer formed with an arch, a first electrode of metal deposited upon the first polymeric layer; a second polymeric layer formed flat; a second electrode of metal deposited upon the second polymeric layer; and a dielectric disposed on the second electrode. The second polymeric layer is mechanically coupled to the first polymeric layer at a first and second end of the arch. In an embodiment, the actuator has a pair of legs attached to the arch of the first polymeric layer to form a crawler unit. In another embodiment a steerable robot has a first crawling unit with its second polymeric layer mechanically coupled to the second polymeric layer of a second crawling unit.
(FR)
L'invention concerne un actionneur électrostatique qui a une première couche polymère formée avec un arc, une première électrode métallique déposée sur la première couche polymère ; une seconde couche polymère formée à plat ; une seconde électrode métallique déposée sur la seconde couche polymère ; et un diélectrique disposé sur la seconde électrode. La seconde couche polymère est mécaniquement couplée à la première couche polymère au niveau d'une première et d'une seconde extrémité de l'arc. Dans un mode de réalisation, l'actionneur a une paire de pieds fixés à l'arc de la première couche polymère pour former une unité de rampement. Dans un autre mode de réalisation, un robot orientable a une première unité de rampage avec sa seconde couche polymère mécaniquement couplée à la seconde couche polymère d'une seconde unité de rampage.
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