CN215848171U - Electrostatic drives and electrostatic thin-film robots - Google Patents
Electrostatic drives and electrostatic thin-film robots Download PDFInfo
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- CN215848171U CN215848171U CN202121711409.6U CN202121711409U CN215848171U CN 215848171 U CN215848171 U CN 215848171U CN 202121711409 U CN202121711409 U CN 202121711409U CN 215848171 U CN215848171 U CN 215848171U
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Abstract
The application discloses electrostatic drive device and electrostatic film robot, wherein electrostatic drive device's motion portion stator includes first power supply bus, first insulating layer, motion portion active cell includes second power supply bus, the second insulating layer, traction portion connects motion portion active cell and is anisotropic friction structure, motion portion stator and motion portion active cell setting are in retraining the shell, retraining shell and motion portion stator fixed connection, energy supply module connects first power supply bus and second power supply bus respectively and provides alternating voltage, motion portion stator and motion portion active cell produce relative movement under alternating voltage, motion portion active cell is used for driving traction portion and removes. The energy supply module continuously provides alternating voltage for the electrostatic driving device, so that the electrostatic driving device can continuously move under the action of the traction part, and the motion with a large stroke is realized.
Description
Technical Field
The application relates to the technical field of mechanical electronics, in particular to an electrostatic driving device and an electrostatic thin-film robot.
Background
With the recent increase of automation demand in various circles, a trend of robot development has been raised globally, and various robot products with various functions have been developed. In the process of robot automation, the traditional robot is not only difficult to be accepted by people due to the image of a steel warrior, but also has certain dangerousness in use due to the large overall rigidity, so that research and development personnel need to safely operate the traditional robot through a complex algorithm, and the research and development cost of the robot is greatly increased.
With such a background, the concept of flexible robots has been proposed, which utilize emerging flexible materials, innovative driving methods to achieve better environmental adaptability, safety and the possibility of human-computer interaction. The electrostatic thin-film robot has the advantages of simple structure, simplicity and convenience in operation and the like, and shows more excellent performance in the field of flexible robots, and the research on the electrostatic thin-film robot is still in the starting stage at present.
SUMMERY OF THE UTILITY MODEL
The present application is directed to solving at least one of the problems in the prior art. For this purpose, the present application proposes an electrostatic drive device which is capable of achieving a large stroke movement.
An electrostatic drive apparatus according to an embodiment of a first aspect of the present application includes: motion portion stator, motion portion active cell, traction portion, restraint shell, energy supply module, motion portion stator includes first power supply bus, first insulating layer, motion portion active cell includes second power supply bus, second insulating layer, traction portion connects motion portion active cell, traction portion is anisotropic friction structure, motion portion stator with motion portion active cell sets up in the restraint shell, the restraint shell with motion portion stator fixed connection, energy supply module connects respectively first power supply bus with second power supply bus, and to first power supply bus with second power supply bus provides alternating voltage, motion portion stator with motion portion active cell is in produce relative movement under the alternating voltage, motion portion active cell is used for driving traction portion removes.
According to the electrostatic driving device of the embodiment of the application, at least the following beneficial effects are achieved: the energy supply module continuously provides alternating voltage for the electrostatic driving device, so that the robot can continuously move under the action of the traction part, and the motion with a large stroke is realized.
According to some embodiments of the application, further comprising: the boosting module is connected with the energy supply module and used for adjusting the size of the alternating voltage.
According to some embodiments of the present application, the moving part stator and the moving part mover are each provided in a single-layer or multi-layer plate-like structure, and the moving part stator and the moving part mover are provided to cross each other.
According to some embodiments of the present application, the anisotropic friction structure is an anisotropic iron pin or an electrostatic adsorption pole piece capable of generating controllable friction force.
According to some embodiments of the application, further comprising: and the lubricating layer is arranged on the contact surface of the moving part stator and the moving part rotor.
According to some embodiments of the present application, the lubricating layer comprises micron-sized glass microspheres.
According to some embodiments of the present application, the first power supply bus is disposed in the first insulating layer and the second power supply bus is disposed in the second insulating layer.
According to some embodiments of the application, the first power supply bus and the second power supply bus each comprise three sets of drive lines, the alternating voltage being a three-phase alternating current.
According to some embodiments of the present application, the first insulating layer and the second insulating layer are both made of polyimide.
An electrostatic thin-film robot according to an embodiment of a second aspect of the present application includes the electrostatic driving device according to the embodiment of the first aspect, and the electrostatic thin-film robot moves under the combined action of the moving part mover, the moving part stator, and the traction part.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The present application is further described with reference to the following figures and examples, in which:
FIG. 1 is a schematic view of an electrostatic driving apparatus according to an embodiment of the present disclosure;
FIG. 2 is a side view of an electrostatic drive apparatus according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a moving process of the electrostatic driving apparatus of FIG. 2;
FIG. 4 is a schematic view of a moving part stator and a moving part mover according to another embodiment of the present application;
FIG. 5 is a schematic diagram of a power supply line connection of an electrostatic driving apparatus according to an embodiment of the present application;
fig. 6 is a schematic diagram of a power supply bus of an electrostatic driving apparatus according to an embodiment of the present disclosure.
Reference numerals:
a moving part stator 110, a moving part mover 120, a traction part 130, and a constraint case 140;
the power supply module 150, the boost module 160 and the first power supply bus 111;
a first insulating layer 112, a second power supply bus 121, a second insulating layer 122.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the positional descriptions, such as the directions of up, down, front, rear, left, right, etc., referred to herein are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present application.
In the description of the present application, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present number, and the above, below, within, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless otherwise expressly limited, terms such as set, mounted, connected and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present application by combining the detailed contents of the technical solutions.
Some embodiments, referring to fig. 1 and 2, the present application proposes an electrostatic driving apparatus including: the moving part stator 110, the moving part mover 120, the traction part 130, the constraint shell 140, and the energy supply module 150, the moving part stator 110 includes a first power supply bus 111 and a first insulating layer 112, the moving part mover 120 includes a second power supply bus 121 and a second insulating layer 122, the traction part 130 is connected to the moving part mover 120, the traction part 130 is an anisotropic friction structure, the moving part stator 110 and the moving part mover 120 are disposed in the constraint shell 140, the constraint shell 140 is fixedly connected to the moving part stator 110, the energy supply module 150 is respectively connected to the first power supply bus 111 and the second power supply bus 121 and provides alternating voltage to the first power supply bus 111 and the second power supply bus 121, the moving part stator 110 and the moving part mover 120 generate relative movement under the alternating voltage, and the moving part mover 120 is used for driving the traction part 130 to move.
In an exemplary embodiment, the moving part stator 110 and the moving part mover 120 in fig. 1 are both configured as a single-layer plate-shaped structure, the first insulating layer 112 is used for fixing the first power supply bus 111, the second insulating layer 122 is used for fixing the second power supply bus 121, the first power supply bus 111 and the second power supply bus 121 are both configured as a multi-phase alternate distribution structure uniformly distributed along a straight line direction, the power supply modules 150 are respectively connected (not shown in the figure) to the first power supply bus 111 and the second power supply bus 121, for causing an electrostatic field to be generated between the electrodes of the first power supply bus 111 and the second power supply bus 121, because the first power supply bus 111 and the second power supply bus 121 are attached and insulated, when the polarities of the electrostatic charges on the corresponding electrodes are opposite, that is, an electrostatic force attracting each other is generated, and the moving part stator 110 and the moving part mover 120 are relatively moved by the electrostatic attraction force. The relative moving speed between the pole plates can be changed by designing parameters such as frequency and amplitude of the alternating voltage.
The relative movement between the constrained electrode plates is in a linear direction by the constrained case 140, and the moving part mover 120 is fixedly connected to the traction part 130 having an anisotropic friction structure. Specifically, the anisotropic friction structure in the embodiment of the present application is an anisotropic friction iron pin, and in fig. 2, the moving part stator 110 and the moving part mover 120 are both provided with the anisotropic friction iron pins, and the number of the anisotropic friction iron pins can be set arbitrarily according to needs. It is understood that the electrostatic driving apparatus may be moved by providing the anisotropic friction structure only on the moving part stator 110. In some other embodiments, the anisotropic friction structure may also be a hook-like barb structure.
Because the friction force of the anisotropic friction structure in different moving directions is different, the electrostatic driving device can continuously move in one direction under the driving of the traction part 130, so as to realize the movement with a large stroke. The shape and structure of the pulling part 130 may be arbitrarily selected according to design requirements. In some other embodiments, an anisotropic friction structure may be disposed on the constraining casing 140 to increase the friction between the electrostatic driving apparatus and the external environment; the anisotropic friction structure can also be a controllable structure changed by control, so that the magnitude and the direction of the friction force can be controlled.
The energy supply module 150 in the embodiment of the present application is a miniature integrated portable device, and in some other embodiments, may be an external stand-alone large-scale device.
The electrostatic driving device has the advantages of being simple in structure, small in size, small in heat productivity, high in precision and convenient to drive and control.
Fig. 3 is a schematic diagram illustrating a moving process of an electrostatic driving apparatus according to an embodiment of the disclosure. The moving part stator 110 and the moving part mover 120 of the electrostatic driving apparatus in the figure are both provided with an anisotropic friction structure, where a is an initial motion state. The energy supply module 150 inputs alternating voltages to the moving part stator 110 and the moving part mover 120, and due to a phase difference between the alternating voltages connected to the moving part stator 110 and the moving part mover 120, the electrodes corresponding to the first power supply bus 111 and the second power supply bus 121 are charged with opposite polarities, so as to generate an electrostatic force, and the moving part stator 110 and the moving part mover 120 move away from each other under the action of the electrostatic force, and due to the fact that the moving part mover 120 and the moving part stator 110 are fixedly connected with an anisotropic friction structure, the moving part mover 120 is more easily moved to the right, so as to form a moving state b in fig. 3. Then, by changing the phase of the alternating voltage, the moving part stator 110 and the moving part mover 120 are moved close to each other, at this time, the moving part mover is not easy to move leftward due to the anisotropic friction structure of the traction part, so that the moving part stator 110 drives the whole electrostatic driving device to move rightward, a movement state c in fig. 3 is formed, and the phase of the alternating voltage is switched and driven in a reciprocating manner, so that the electrostatic driving device can complete unidirectional linear motion.
In some embodiments, the electrostatic drive apparatus further comprises: the boosting module 160, the boosting module 160 is connected to the energy supply module 150, and the boosting module 160 is used for adjusting the magnitude of the alternating voltage. The magnitude of the electrostatic force between the moving part mover 120 and the moving part stator 110 is related to the magnitude of the alternating voltage, and the driving force of the electrostatic driving apparatus can be increased by increasing the magnitude of the alternating voltage by adding the boosting module 160, thereby increasing the load capacity of the electrostatic driving apparatus.
In some embodiments, the moving part stator 110 and the moving part mover 120 are each provided in a single-layer or multi-layer plate structure, and the moving part stator 110 and the moving part mover 120 are disposed to cross each other. Referring to fig. 4, the moving stator 110 is configured as a four-layer plate structure, the moving mover 120 is configured as a three-layer plate structure, and different plates are alternately arranged, so that the size of the electrostatic force between the moving stator 110 and the moving mover 120 can be increased. In some other embodiments, the moving part stator 110 and the moving part mover 120 may be provided in other shapes and structures. For example, the moving part stator 110 may be provided in a hollow cylindrical structure, and the moving part mover 120 may be provided in a cylindrical structure having a small radius, so that the plates may be relatively moved.
In some embodiments, the anisotropic friction structure is an anisotropic iron pin or an electrostatic adsorption pole piece capable of generating controllable friction force. Through setting up controllable electrostatic absorption pole piece, when needs frictional force, make the pole piece produce electrostatic absorption power through exerting voltage to make and produce frictional force between robot and the adsorption plane, when not needing frictional force, it can to get rid of the voltage of exerting. The effect of anisotropic friction can also be achieved by arranging the controllable electrostatic adsorption pole piece, and the friction force of the anisotropic friction structure is controllable, so that the robot can move more conveniently.
In some embodiments, the electrostatic driving apparatus of the present application further includes: and a lubricating layer disposed on a contact surface of the moving part stator 110 and the moving part mover 120. By providing the lubrication layer, the friction between the moving part mover 120 and the moving part stator 110 may be reduced.
In some embodiments, the lubricating layer comprises micron-sized glass microspheres. For example, the lubricating layer may be provided only as uniform glass microspheres on the micrometer scale, or only as a structure or material having a lubricating effect such as an insulating lubricating liquid. In some other embodiments, a lubricating liquid can be added to the glass microspheres to achieve a better lubricating effect.
In some embodiments, the first power supply bus 111 is disposed in the first insulating layer 112 and the second power supply bus 121 is disposed in the second insulating layer 122. The first insulating layer 112 wraps the first power supply bus 111, and the second insulating layer 122 wraps the second power supply bus 121, so that the driving circuit can be protected under the condition of isolating the driving circuit, the driving circuit is prevented from being exposed to the environment, and the service life of the driving circuit is prolonged. In some other embodiments, in the case of only two layers of driving circuits, an insulating layer may be provided only on the contact surface between the driving circuits.
In some embodiments, the first power supply bus 111 and the second power supply bus 121 each include three sets of drive lines, and the alternating voltage is three-phase alternating current. Referring to fig. 5, the power module 150 may be connected to the driving circuit by an etching circuit or a direct wire connection, and the power module 150 inputs a three-phase alternating voltage to the driving circuit to move the seed electrostatic driving device by changing phases of the alternating voltages in different driving lines. Referring to fig. 6, a layout diagram of three sets of driving lines in an embodiment is shown, in which the dashed lines only distinguish different driving lines, and the electrostatic driving device can be driven to move by a multi-phase alternating distribution structure. In some other embodiments, the electrostatic driving device may also be driven by switching in two-phase, four-phase, and other multi-phase ac power.
In some embodiments, the materials of the first insulating layer 112 and the second insulating layer 122 are both polyimide. Polyimide is an organic polymer material, and by the design of the material, the moving part stator 110 and the moving part mover 120 can be moved in a flexible manner, so that the moving part stator is suitable for use under complex environmental conditions. In some other embodiments, a hard insulating material may be used as the insulating layer to improve the structural strength of the electrostatic driving apparatus.
In some embodiments, the present application also provides an electrostatic thin film robot, including the electrostatic driving device in the above embodiments, the electrostatic thin film robot moves under the combined action of the moving part mover 120, the moving part stator 110 and the traction part 130. The application discloses electrostatic film robot uses electrostatic drive device as the power supply, through add other functional modules on electrostatic drive device to reach the effect that has different function electrostatic film robot. For example, a micro mechanical arm, a cutting knife, a camera and the like can be arranged on the electrostatic driving device, so that the electrostatic thin-film robot can complete various tasks.
In the description of the present application, reference to the description of the terms "some embodiments," "exemplary embodiments," "examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present application. Furthermore, the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
Claims (10)
1. An electrostatic drive apparatus, comprising:
a moving part stator including a first power supply bus, a first insulating layer;
the moving part rotor comprises a second power supply bus and a second insulating layer;
the traction part is connected with the moving part rotor, and the traction part is of an anisotropic friction structure;
the motion part stator and the motion part rotor are arranged in the constraint shell, and the constraint shell is fixedly connected with the motion part stator;
energy module, energy module connects respectively first power supply bus with second power supply bus, and to first power supply bus with second power supply bus provides alternating voltage, motion portion stator with motion portion active cell is in produce relative movement under the alternating voltage, motion portion active cell is used for driving traction portion removes.
2. An electrostatic drive as claimed in claim 1, further comprising: the boosting module is connected with the energy supply module and used for adjusting the size of the alternating voltage.
3. An electrostatic drive as claimed in claim 1, wherein the moving part stator and the moving part mover are each provided in a single-layer or multi-layer plate-like structure, the moving part stator and the moving part mover being provided to cross each other.
4. The electrostatic driving device according to claim 1, wherein the anisotropic friction structure is an anisotropic iron pin or an electrostatic absorption pole piece capable of generating controllable friction force.
5. An electrostatic drive as claimed in claim 1, further comprising: and the lubricating layer is arranged on the contact surface of the moving part stator and the moving part rotor.
6. An electrostatic drive as claimed in claim 5 wherein the lubricating layer comprises micron-sized glass microspheres.
7. An electrostatic drive as claimed in claim 1, wherein the first supply bus is disposed in the first insulating layer and the second supply bus is disposed in the second insulating layer.
8. An electrostatic drive as claimed in claim 1 wherein the first supply bus and the second supply bus each comprise three sets of drive lines and the alternating voltage is a three phase alternating current.
9. An electrostatic drive as claimed in claim 1, wherein the first and second insulating layers are each made of polyimide.
10. An electrostatic thin film robot comprising the electrostatic driving apparatus as claimed in any one of claims 1 to 9, wherein the electrostatic thin film robot moves by a combined action of the moving part mover, the moving part stator, and the traction part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121711409.6U CN215848171U (en) | 2021-07-27 | 2021-07-27 | Electrostatic drives and electrostatic thin-film robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121711409.6U CN215848171U (en) | 2021-07-27 | 2021-07-27 | Electrostatic drives and electrostatic thin-film robots |
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| Publication Number | Publication Date |
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| CN215848171U true CN215848171U (en) | 2022-02-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113561159A (en) * | 2021-07-27 | 2021-10-29 | 南方科技大学 | Electrostatic drives and electrostatic thin-film robots |
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- 2021-07-27 CN CN202121711409.6U patent/CN215848171U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113561159A (en) * | 2021-07-27 | 2021-10-29 | 南方科技大学 | Electrostatic drives and electrostatic thin-film robots |
| CN113561159B (en) * | 2021-07-27 | 2025-07-29 | 南方科技大学 | Electrostatic driving device and electrostatic film robot |
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