软稳定接口通过电线张力抓住多个对象
Pho Van Nguyen1,2, Dhyan Bohra Sunil3,4, Wai Tuck Chow5
1School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore. ngvphobk08@gmail.com.
Scientific reports
|December 6, 2023
概括
这项研究介绍了一种新的混合机器人手,它使用弹性电线进行稳定,可适应的多对象操纵. 这种柔软的机器人抓手可以在没有复杂的控制系统的情况下实现复杂物体的高成功率和耐用性.
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
背景情况:
- 软软的机器人手在稳定地操纵具有不同几何形状的多个对象时面临着挑战.
- 现有的设计往往缺乏负载稳定性和适应性合规性的必要组合.
研究的目的:
- 开发一种新的机器人手平台,用于高效的多物体操纵.
- 为了创建一个混合指纹设计,将弹性电线与坚固的骨架相结合.
主要方法:
- 开发了一个理论模型来预测使用基于布线的手指进行多对象操纵的动力学.
- 设计和制造了一种带有两个基于布线的手指的混合式抓手.
- 实验评估使用各种对象集进行,包括轮,连接器和瓶子.
主要成果:
- 混合抓手在操纵多个物体方面表现出高的成功率.
- 耐用性测试显示,在各种提升速度中表现一致.
- 软接触设计表现出高度适应不同物体形状的适应性.
结论:
- 拟议的混合指纹设计为软机器人中稳定和自适应的多对象操纵提供了一个有希望的解决方案.
- 这种方法简化了复杂的对象处理任务的控制要求.
- 开发的平台显示了需要多功能机器人抓手的应用程序的潜力.
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