生物灵感软气动驱动器基于一个类似形的图案,具有刚性骨架
Zhichuan Tang1, Keshuai Yang2, Hang Wang2
1Industrial Design Institute, Zhejiang University of Technology, Hangzhou 310014, China; Modern Industrial Design Institute, Zhejiang University, Hangzhou 310013, China.
Journal of advanced research
|October 13, 2023
概括
这项研究引入了一种新的软气动执行器 (SPA),灵感来自于salp行为,实现高延伸和输出力而不扭转. 这种仿生设计为先进软机器人应用提供了实际指导.
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
- 生物模拟学是一种生物模拟学.
背景情况:
- 带有克雷斯林原木图案的软气动执行器 (SPA) 与刚性机器人相比,在适应性和安全性方面具有优势.
- 传统的克雷斯林模式有局限性,这些局限性阻碍了软机器人应用中的最佳性能.
研究的目的:
- 提议和评估一种新的SPA,灵感来自salps的克隆和运动行为.
- 设计一个SPA使用Kresling类型的图案与刚性骨架增强功能.
- 评估拟议的SPA的延伸,输出力和应用潜力.
主要方法:
- 开发了一种包含Kresling样图的刚性骨和一种新的可伸缩插入结构的SPA.
- 设计了SPA以实现轴向收缩/扩张而无扭转,模仿了salp运动.
- 整合了一个模块化设计,允许可调节的层数来控制性能,并模仿salp克隆.
主要成果:
- 该SPA表现出显著的延伸,增加了超过162%的额外层.
- 一个三层的SPA在10L/分钟的空气流量下达到6.36N的输出力,随着层和空气流量的增加而增加力.
- 通过在软抓手,剪刀抓手,爪抓手和管道爬行器中的应用来验证SPA的有效性.
结论:
- 拟议的SPA成功地避免了在辐射收缩过程中扭转,表现出高延伸和输出力.
- 这种仿生设计为开发生物灵感软机器人系统提供了宝贵的见解和实际指导.
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