软机器人中的多式移动通过层次执行来实现
1Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, California, USA.
Soft robotics
|July 20, 2023
概括
这项研究介绍了Hexapus,一个软的水下机器人,具有新的层次执行系统. 这种设计可以实现高效的多式联动运动,包括游泳,抓捕和爬行,克服软机器人设计的局限性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 软机器人软机器人 软机器人软机器人
- 生物仿真工程 生物仿真工程
背景情况:
- 软和连续性机器人提供了广泛的运动范围,以实现灵巧的移动.
- 软机器人自由度 (DOF) 的增加需要更多的执行器,这给空间和功率带来了设计挑战.
- 连续连接器的执行限制可以限制软机器人的运动能力.
研究的目的:
- 为了在一个名为Hexapus的软水下机器人中展示多式交通行为.
- 为多个附属物软机器人提出一个层次化的执行设计.
- 为了克服高DOF软机器人设计中的执行器限制.
主要方法:
- 开发了一个分层的执行系统,其中有一个用于机车运动的高功率电机和用于附体成形的低功率电机.
- 设计的柔性附加物能够超延伸推力和曲抓取 (峰值拉出力:32N).
- 整合了一种弹性膜,配有滑动轮机制,用于快速释放推进.
主要成果:
- 赫克萨普斯证明了高效的水下运动,运输成本低 (COT=1.44在16.5mm/s).
- 机器人表现出各种多式移动行为,包括游泳,转动,抓住和爬行.
- 层次执行设计成功地管理了高DOF软机器人的执行器约束.
结论:
- 赫克萨普斯机器人展示了层次执行的潜力,以实现软水下机器人的复杂行为.
- 这种设计方法有效地解决了与高DOF软机器人系统相关的空间和功率限制.
- 展示的功能突出了开发适应性和多功能软机器人平台的有希望的方向.
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