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产品名称
Product Name
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FlexPal 固定式柔性操作平台
FlexPal Fixed Flexible Operation Platform
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产品型号
Product Model
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启元A1
FlexPal A1
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— |
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结构形式
Structure
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模块化多节串联柔性结构
Modular multi-section series flexible structure
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— |
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驱动方式
Drive Method
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气动柔性驱动
Pneumatic flexible drive
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— |
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单节驱动单元数
Single Section Drive Unit Count
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3/4/6/8 |
个
pcs
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节数
Section Count
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1–3（视配置而定）
1–3 (depending on configuration)
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节
sections
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总驱动通道数
Total Drive Channels
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3/4/6/8/9/12 |
路
channels
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本体材料
Body Material
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柔性弹性体与轻量化结构复合材料
Flexible elastomer and lightweight structural composite
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— |
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最大展开长度
Max Extended Length
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300–980 |
mm |
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单节长度
Single Section Length
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300 |
mm |
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外径 / 截面尺寸
Outer Diameter / Cross-section
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40–60 |
mm |
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单节外径 / 截面尺寸
Single Section Outer Diameter
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60-95 |
mm |
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整机重量
Total Weight
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1.5–4.0（不含外部气源）
1.5–4.0 (excluding external air source)
|
kg |
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安装方式
Installation Method
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台式安装 / 支架安装
Desktop / Stand installation
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— |
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工作空间范围
Workspace Range
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半径约 250–700 mm，视节数而定
Radius approx. 250–700 mm, depending on sections
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最大弯曲角度
Max Bending Angle
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≥90° / 节 |
° |
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最大末端位移
Max End Displacement
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200–600 |
mm |
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额定末端负载
Rated End Load
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200–500 |
g |
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最大末端负载
Max End Load
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800 |
g |
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重复定位精度
Repeatability
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±5–10 |
mm |
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末端定位误差
End Positioning Error
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5–15（典型值）
5–15 (typical value)
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mm |
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姿态控制精度
Attitude Control Accuracy
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±5–10（典型值）
±5–10 (typical value)
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° |
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控制频率
Control Frequency
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50–100 |
Hz |
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传感采样频率
Sensor Sampling Frequency
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50–200 |
Hz |
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响应时间
Response Time
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<200 |
ms |
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单步动作时间
Single Step Action Time
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0.5–2.0 |
s |
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工作压力范围
Working Pressure Range
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-80–80 |
kPa |
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最大允许压力
Max Allowable Pressure
|
100 |
kPa |
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气源要求
Air Source Requirement
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外接压缩空气 / 标准实验室气源
External compressed air / Standard lab air source
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— |
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压力控制精度
Pressure Control Accuracy
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±2–5 |
kPa |
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长度传感器类型
Length Sensor Type
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内置长度 / 形变传感
Built-in length / deformation sensing
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— |
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IMU 配置
IMU Configuration
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每模块集成 IMU
IMU integrated per module
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— |
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压力传感器配置
Pressure Sensor Configuration
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每驱动通道独立压力监测
Independent pressure monitoring per drive channel
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— |
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是否支持闭环控制
Closed-loop Control Support
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是
Yes
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控制模式
Control Mode
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压力闭环 / 长度闭环 / 位姿闭环
Pressure closed-loop / Length closed-loop / Position closed-loop
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— |
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通信接口
Communication Interface
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USB / Ethernet / ROS 2 |
— |
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软件接口
Software Interface
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Python API / ROS 2 SDK |
— |
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视觉系统支持
Vision System Support
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支持外接视觉系统（可选）
Support external vision system (optional)
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— |
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电源需求
Power Requirements
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220V AC / 视控制柜配置而定
220V AC / Depending on control cabinet configuration
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V / W |
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工作环境温度
Operating Environment Temperature
|
0–40 |
℃
°C
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安全特性
Safety Features
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柔顺接触、过压保护、急停接口
Compliant contact, overpressure protection, emergency stop interface
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典型应用场景
Typical Application Scenarios
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科研实验、教学演示、柔性抓取、康复辅助研究
Scientific research experiments, teaching demonstrations, flexible grasping, rehabilitation assistance research
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定制能力
Customization Capability
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支持长度、节数、接口与控制系统定制
Support customization of length, number of sections, interfaces and control systems
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