灵感来自章鱼的肌肉水立体,由扭曲和卷曲的人工肌肉提供动力
Parth Kotak1, Sean Maxson1, Thilina Weerakkody1
1Department of Mechanical Engineering, University of Iowa-Iowa City, Iowa, USA.
Soft robotics
|November 16, 2023
概括
研究人员使用人工肌肉开发了以章鱼为灵感的软机器人. 这些机器人模仿了章鱼.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物启发工程 生物启发工程
- 材料科学 材料科学 材料科学
背景情况:
- 传统的机器人具有严格的结构,限制了运动和安全的人类互动.
- 软机器人提供了一个替代方案,但受到低功率/重量比执行器的阻碍.
- 章鱼拥有肌肉水立体,使其能够进行广泛的运动.
研究的目的:
- 用先进的人工肌肉开发以章鱼为灵感的软机器人.
- 为了克服软机器人现有执行器的局限性.
- 在非结构化环境中创建符合要求的机器人来完成复杂的任务.
主要方法:
- 使用扭曲和卷曲的人工肌肉 (TCAMs) 制造的肌肉水立体.
- 开发了四种配置的TCAM驱动的水静电装置,模仿章鱼的手臂运动.
- 组装了一个无,防水的机器人设备,集成控制和动力.
主要成果:
- 在低电压 (<0.2V/cm) 时,TCAMs提供高应力 (60MPa) 和大拉力冲击 (~50%).
- 开发的水静电器成功地复制了章鱼的手臂运动:缩短,扭曲,曲和延伸.
- 一个无绳索的水下机器人原型成功演示.
结论:
- 用TCAM驱动的肌肉水静电器为生物灵感软机器人提供了可行的解决方案.
- 这项技术使得能够开发符合规定的机器人,用于水下勘探和危险任务.
- 拟议的机器人将推动软机器人领域向更大的功能和环境适应性迈进.
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