多功能真空驱动的人造肌肉通过可更换的外部增强器
Mijaíl Jaén Mendoza1, Sergio Cancán2, Steve Surichaqui3
1Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru.
Frontiers in robotics and AI
|January 19, 2024
概括
这项研究介绍了一种用于软机器人的多功能真空动力人工肌肉 (VPAM). 这种可适应的软执行器提供可调节的输出动作,在不可预测的环境中增强机器人的功能.
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
- 机械工程 机械工程
背景情况:
- 软的气动人工肌肉对于安全,轻量化和可调整的机器人系统至关重要.
- 现有的执行器往往缺乏适应多样化或不可预测的操作需求的适应性.
研究的目的:
- 为了开发一个多功能真空驱动的人工肌肉 (VPAM),手动调节输出运动.
- 证明VPAM在各种应用中的适应性和可重复使用性.
主要方法:
- 设计了一种新型的人工肌肉,由一堆空气室组成.
- 集成可更换的外部增强件,以限制执行器运动.
- 对于不同运动模式 (扭转,曲,剪切,旋转) 的特征变形和提升力.
主要成果:
- 成功演示了可调节的输出运动,包括扭转,曲,剪切和旋转.
- 在两个不同的软机器人机器中验证了VPAM的可重复使用性和多功能性.
- 实现了复杂的移动模式,适合各种任务.
结论:
- 开发的VPAM为软机器人提供了可重复使用和多功能解决方案.
- 它的适应性有利于不可预测的工作空间和各种操作要求.
- 介绍了在水下,陆地和可穿戴机器人设备中运动的新策略.
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