使用多个振动源控制气体滑粘合剂盘的运动
Chengzhe Jia1, Sankaran Ramanarayanan1, Antonio L Sanchez1
1Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, CA, United States.
Frontiers in robotics and AI
|November 15, 2023
概括
研究人员开发了一种新的机器人粘附方法,使用振动源来实现自由移动. 这种简单的方法使机器人能够克服重力,在没有复杂系统的情况下在表面上移动.
科学领域:
- 机器人与机械工程 机器人与机械工程
- 粘附科学 粘附科学 粘附科学
- 振动力学 振动力学
背景情况:
- 可控制的粘附对于机器人在各种应用中至关重要,例如爬墙和物料处理.
- 现有的粘附方法通常需要大量的能量,特定的表面特性 (例如铁磁,平面) 或额外的脱落机制.
研究的目的:
- 开发一种更简单的方法,使机器人能够粘附于表面并实现平面运动.
- 为了克服当前粘附技术的局限性,例如能源需求和表面依赖性.
主要方法:
- 利用多个振动源来产生正常的粘附和推进力.
- 构建并试验圆形和圆形气滑粘合盘模型.
- 研究各种输入参数和模型配置以实现所需的运动.
主要成果:
- 在平面上证明了成功的粘合剂旋转和位移,仅使用振动源.
- 在不需要辅助操作系统或外部电源的情况下实现机器人运动.
- 在测试模型上验证了振动诱导粘附和推进的有效性.
结论:
- 开发的基于振动的方法为机器人粘附和机动运动提供了更简单,更通用的方法.
- 这项技术是创造能够克服重力和在一般环境中运行的小型无机器人的重要一步.
- 这些发现为材料加工,检查和维护中的先进机器人系统铺平了道路.
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