有效的互换挖掘与异型原木脚的异型原木脚.
Sareum Kim1, Laura K Treers1, Tae Myung Huh2
1Embodied Dexterity Group, Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, United States.
Frontiers in robotics and AI
|August 21, 2023
概括
原木脚通过产生异型力,使得在颗粒状介质中挖掘机动. 调节脚的设计可以提高前进运动的效率,而无需复杂的控制.
科学领域:
- 机器人与机械工程 机器人与机械工程
- 软机器人软机器人 软机器人软机器人
- 颗粒力学 颗粒力学
背景情况:
- 原木原理为适应性机制提供了潜力,但在颗粒状环境中尚未得到研究.
- 生物系统利用异构力来进行运动,这激发了生物模拟方法.
- 不同型摩擦是粒状介质中有效运动的关键.
研究的目的:
- 调查可折叠的原木脚的使用,以诱导颗粒介质中的异构力反应.
- 开发一个挖掘机器人,利用原木脚进行定向运动.
- 应用和验证可变形结构设计的颗粒式电阻力理论.
主要方法:
- 设计和制造具有可部署的原木脚的反转挖掘机.
- 采用颗粒状电阻力理论的减少顺序模型.
- 进行实验和离散元件方法 (DEM) 模拟以进行验证.
主要成果:
- 通过优化原木脚设计,实现了超过46%的挖掘转换比率.
- 通过对称的线性执行,证明了指导式挖掘运动.
- 验证了原木脚在产生异型力反应中的有效性.
结论:
- 原木脚可以在颗粒状介质中实现高效,无控制器的挖掘运动.
- 足部设计参数显著影响机动性能.
- 阻力力理论为在颗粒状环境中设计可变形结构提供了有价值的框架.
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