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Manipuladores de Tensegridad Multimodales: Módulos de Giro Preprogramables para Agarre Diestro Inspirados en Trompas
Yanghui Chen1, Jiafu Liu1, Jiahui Luo1
1School of Aeronautics and Astronautics, Sun Yat-Sen University, Shenzhen, P.R. China.
Soft robotics
|December 30, 2025
Resumen
Este estudio presenta un novedoso manipulador de continuo basado en tensegridad (TCM) modular inspirado en las trompas de elefante. Este diseño simplifica el control para tareas de manipulación diestra en entornos no estructurados.
Área de la Ciencia:
- Robótica e Ingeniería Mecánica
- Robótica Blanda y Manipulación Continua
Sus antecedentes:
- Los manipuladores continuos basados en tensegridad (TCM) ofrecen capacidades de adaptación a entornos no estructurados.
- La redundancia de actuación en los TCM complica el control de la manipulación diestra.
- Los diseños existentes requieren un esfuerzo considerable para resolver los efectos de acoplamiento entre componentes rígidos y flexibles.
Objetivo del estudio:
- Proponer un TCM modular con actuación segmentada mejorada para un control simplificado.
- Permitir movimientos de flexión y torsión desacoplados para la deformación multimodal.
- Reducir la complejidad del control en sistemas de manipuladores continuos.
Principales métodos:
- Desarrollo de módulos preprogramables de flexión y torsión (PBTM) con actuación segmentada mejorada.
- Diseño de una plantilla de preprogramación para capacidades de torsión in situ.
- Derivación de un modelo dinámico utilizando coordenadas naturales y elementos de cable agrupados (CTC).
Principales resultados:
- La estrategia de actuación mejorada desacopla eficazmente los segmentos adyacentes y separa el control de curvatura/dirección.
- El análisis numérico reveló el efecto de la longitud de reposo del CTC en la holgura del cable y el movimiento de torsión in situ.
- Un prototipo de manipulador demostró una deformación multimodal versátil para envolver objetos y evitar obstáculos.
Conclusiones:
- El TCM modular propuesto con PBTM ofrece un paradigma factible para una complejidad de control reducida.
- El diseño permite una integración mecánica y una implementación de control simplificadas para manipuladores continuos.
- Se validó experimentalmente la capacidad del manipulador para adaptarse a objetos de diversas formas y poses.
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