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奥里加米基于多面体的软多细胞机器人

Fuwen Hu1, Chun Zhang1

  • 1Department of Mechatronics, School of Mechanical and Material Engineering, North China University of Technology, Beijing, China.

Soft robotics
|October 23, 2023
PubMed
概括
此摘要是机器生成的。

这项研究引入了新的柔软多细胞机器人,灵感来自罗姆比克十二面体 (RDD) 原形. 这些机器人展示了多功能机动和爬能力,为先进的机器人技术铺平了道路.

关键词:
多式联网机车是多式联网机车.奥里加米是指原始的软的爬行机器人 软的爬行机器人软模块化机器人 软模块化机器人软杆爬爬机器人 软杆爬机器人软机器人的软机器人

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 原始设计工程 原始设计工程
  • 材料科学 材料科学 材料科学

背景情况:

  • 多模式机器人通常通过可重新配置的模块化或适应性形态方法实现.
  • 现有的方法往往模仿生物多细胞系统或多式动物.

研究的目的:

  • 为了呈现一种新的软多细胞机器人设计,灵感来源于形十二面体 (RDD) 原始模型.
  • 在软机器人中实现多式交通和增强爬能力.

主要方法:

  • 将3D打印软RDD细胞组装成各种配置 (直线,交叉,长方形,平行四边形).
  • 分析基于RDD细胞的顺序单体变形的动力学,以使其能够运动.
  • 研究在线配置的登机制,使用状网来抓住.

主要成果:

  • 演示了多式移动,包括周围静态爬行,双爬行,转动和全方位爬行.
  • 在没有模式重组的情况下在直线配置中获得了出色的登能力.
  • 突出了RDD单体可变形性和可重新配置性在机器人功能中的作用.

结论:

  • 这种灵感来自RDD的软多细胞机器人提供了单质和层次的可变形性,高重构性和3D打印可制造性.
  • 这种新的机器人设计显示了先进机器人应用的潜力,例如自组装和自重构系统.
  • 这些机器人的体现智能可以为目标导向的转型和任务导向的功能做出贡献.