气泡造软机器人
Trevor J Jones1, Etienne Jambon-Puillet1, Joel Marthelot1,2
1Department of Chemical and Biological Engineering, Princeton University, Princeton, NJ, USA.
Nature
|November 11, 2021
概括
这项研究引入了一种用于软机器人的新制造方法, 这种方法可以为各种应用程序创建可编程形状的坚固,单一的执行器.
科学领域:
- 机器人技术
- 材料科学
- 流体力学
背景情况:
- 软机器人模仿生物运动,
- 目前的制造依赖于组装单个零件, 面临可扩展性和设计灵活性的限制.
研究的目的:
- 为制造和编程单体软执行器开发一个全套的方法.
- 克服传统软机器人制造工艺的局限性.
主要方法:
- 在逐步固化的弹性体中利用界面流量来制造单体气动执行器.
- 在执行器组装过程中合理化流体力学,并建模随后的形状变形.
- 利用定量知识来编程复杂的功能,例如顺序运动.
主要成果:
- 展示软机器的新制造方法.
- 生产具有定制形状的坚固,单立体气动执行器.
- 通过单调的刺激实现了复杂的功能,
结论:
- 拟议的方法在软执行器制造中提供灵活性,稳定性和可预测性.
- 这种方法通过使复杂的执行器设计 (例如血管结构) 加速软机器人的发展.
- 为软机器中的几何和材料非线性衍生出新的功能铺平了道路.
相关概念视频
01:13Excess Pressure Inside a Drop and a Bubble
3.5K
The shape of a small drop of liquid can be considered spherical, neglecting the effect of gravity. This drop can further be considered as two equal hemispherical drops put together due to surface tension. The forces acting on the spherical drop are due to the pressure of the liquid inside the drop, the pressure due to air outside the drop, and the force due to the surface tension acting on the two hemispherical drops.
3.5K
01:22Mechanical Systems
901
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
901