单输入式滑轮网的顺序多模式形态化
Han Bi Jeong1, Cheongsan Kim1, Anna Lee2
1Department of Mechanical Engineering, Seoul National University, Seoul, South Korea.
Soft robotics
|June 19, 2023
概括
这项研究介绍了一种新的软执行器系统,它能够使用单个空气压力输入来改变多个形状. 这项创新简化了医药和制造业中复杂的机器人应用的控制.
科学领域:
- 机器人和材料科学 机器人和材料科学
- 软执行器技术 软执行器技术
背景情况:
- 软执行器对于各种领域的机动和操纵至关重要.
- 传统的气动网络 (pneu-nets) 通常需要复杂的多输入系统来改变形状.
研究的目的:
- 开发一个单输入气动网络系统,以实现多式模式的形状变形.
- 为了使软执行器能够实现复杂的形状转换,并进行简化控制.
主要方法:
- 将各种材料和几何形状的轮胎网模块结合起来.
- 利用弹性体的应变硬化特性来控制膨胀.
- 采用理论模型来预测和设计形状演变与压力.
主要成果:
- 展示了一个单个输入系统,在特定的压力点实现多个不同的形状 (曲,拉伸,扭曲).
- 通过材料和几何设计成功预测和控制形状的变形.
- 使单个软执行器能够执行多个功能,如抓取和转动.
结论:
- 开发的轮胎网系统为多式联动软式驱动提供了一种简化方法.
- 这一策略增强了软机器人的功能和控制,用于各种应用.
- 设计原则允许量身定制的形状变形和任务执行.
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