缺陷的扭转环拓为自主周期性翻转旋转轨道软机器人
Fangjie Qi1, Yanbin Li1, Yaoye Hong1
1Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695.
概括
这项研究介绍了一种能够进行自主周期性自旋轨道运动的新型软机器人. 这种机器人可以通过编程的轨迹在复杂的环境中导航,并绘制地图边界.
科学领域:
- 软机器人软机器人 软机器人
- 材料科学 是一种材料科学.
- 非线性动力学是一种非线性动力学.
背景情况:
- 周期性旋转轨道运动在自然界中很常见,但在软机器人中实现自主自主是具有挑战性的.
- 对未知环境的智能探索需要具有自适应运动能力的机器人.
研究的目的:
- 开发一种能够沿着编程的圆形和不规则轨迹进行周期性旋转轨道运动的自主软机器人.
- 为了研究在有缺陷的扭环拓中合自动运动背后的机制.
主要方法:
- 使用带有粘合缺陷的闭环扭曲液晶弹性体带制造软机器人.
- 使用热驱动 (温度或光) 来诱导合的自动运动:内外翻转,自旋转和自旋转.
- 通过控制机器人的几何和执行来编程圆形和不规则的轨迹.
主要成果:
- 软机器人展示了与同步的方向和周期相结合的周期性旋转轨道运动.
- 旋转和轨道方向是通过扭转度控制的,而半径和周期取决于几何和热驱动.
- 机器人成功地绘制了未知的狭窄空间的凸和的边界,并显示了损坏检测的潜力.
结论:
- 开发了一种具有自主自转轨道运动能力的新型软机器人.
- 机器人的独特运动允许在狭窄的空间中进行智能环境映射和监控.
- 这项工作推进了软机器人技术,用于复杂,未知的环境中的勘探和检查任务.
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