通过局部硬化增加软机器人臂的有效载荷能力
Daniel Bruder1, Moritz A Graule1, Clark B Teeple1
1John A. Paulson School of Engineering and Applied Sciences, Harvard University, 150 Western Ave., Boston, MA 02134, USA.
Science robotics
|August 30, 2023
概括
研究人员开发了一种基于模型的设计,以增加软机器人手臂的有效载荷能力. 局部硬化减少了终端效应器的合规性,使软机器人系统能够承受更重的负载和更广泛的应用.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
- 机械工程 机械工程
背景情况:
- 软机器人手臂提供安全性和适应性,因为固有的被动遵守.
- 然而,这种合规性限制了它们的有效载荷能力,限制了它们的功能能力.
- 现有的增加有效载荷的方法往往会损害机器人的运动范围.
研究的目的:
- 提出基于模型的设计方法,以提高软机器人手臂的有效载荷能力.
- 为了研究局部体硬化对终端效应器合规性和有效载荷提升的影响.
- 在模拟和物理软机器人平台上验证拟议的方法.
主要方法:
- 采用基于模型的设计策略来确定硬的最佳区域.
- 实施了局部硬化,以减少特定于终端效应器的合规性.
- 该方法在模拟软机器人手臂和物理原型上进行了测试.
- 实验测量了终端效应器合规性和有效载荷提升高度的变化.
主要成果:
- 局部化的身体硬有效地减少了软机器人手臂的终端效应器合规性.
- 硬化的软机器人手臂显示了有效载荷提升能力的显著增加.
- 软机器人手臂的运动范围被保留了.
- 实验结果与模拟预测保持一致.
结论:
- 提出的基于模型的设计方法成功地提高了软机器人手臂的有效载荷能力.
- 局部硬化是一种可行的策略,可以提高软机器人的性能,而不会牺牲灵活性.
- 这种进步扩大了软机器人在对象操纵和探索等领域的潜在应用.
相关概念视频
01:11Deformation of Member under Multiple Loadings
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When a rod is made of different materials or has various cross-sections, it must be divided into parts that meet the necessary conditions for determining the deformation. These parts are each characterized by their internal force, cross-sectional area, length, and modulus of elasticity. These parameters are then used to compute the deformation of the entire rod.
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
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01:19Plastic Deformations
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Plastic deformation represents a fundamental concept in materials science, which explains the irreversible change in the shape of a material when it experiences stress beyond its elastic capability. This phenomenon is important in structural engineering, especially in designing and analyzing cantilever beams—structures that are securely fixed at one end and bear loads at the opposite end. When these beams are subjected to loads within their elastic range, they will return to their...
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01:17Beams with Unsymmetric Loadings
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Analyzing a supported beam under unsymmetrical loadings is essential in structural engineering to understand how beams respond to varied force distributions. This analysis involves calculating the deflection and identifying points where the slope of the beam is zero, which are crucial for ensuring structural stability and functionality.
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01:20Normal Strain under Axial Loading
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Normal strain under axial loading is an important concept in the field of mechanics of materials. Axial loading implies the application of a force along the axis of a material, like a column or bar. This force can either compress or stretch the material. In the context of axial loading, normal strain is the deformation experienced by the material in the direction of the loading force. It's calculated as the change in length divided by the original length of the material. This unitless ratio...
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01:15Deformation of a Beam under Transverse Loading
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Understanding beam deflection, particularly for indeterminate beams with overhanging segments and multiple concentrated loads, is crucial for ensuring structural integrity and functionality. The process begins with constructing an accurate free-body diagram, which helps identify the forces and moments acting on the beam. This diagram is vital for visualizing how bending moments vary along the beam's length, influencing its curvature.
The insights from the bending moment diagram extend to...
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01:20Plastic Deformation in Circular Shafts
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When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...
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