在充气织物梁中利用折叠和软合规元件
Juan J Huaroto1, Etsel Suarez1, Wangdo Kim2
1Department of Mechanical Engineering, Universidad Nacional de Ingenieria, Lima, Peru.
Frontiers in robotics and AI
|January 29, 2024
概括
软合规元件增强可充气织物梁,以控制运动和形状. 整合两个元件可以使执行器恢复到折叠状态,从而实现诸如软抓柄等多功能应用.
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:
- 充气织物梁 (IFB) 提供复杂的运动,但缺乏返回折叠状态的固有弹性.
- 现有的解决方案需要额外的压力或机制来恢复IFB的原始配置.
研究的目的:
- 引入一种新的执行器,使用具有集成软合规元件 (SCE) 的IFB.
- 为了证明SCE如何提高IFB弹性,实现可控的外平面运动,并允许可调节的角位移.
- 为了研究执行器的行为和机器人应用的多功能性.
主要方法:
- 在方法上将SCE组装到IFB的折叠上,以限制展开.
- 使用基于矩阵的表示和模型分析执行器运动.
- 实验研究SCE形状,刚度,折叠尺寸和组装距离对角位移的影响.
主要成果:
- 拟议的执行器在5kPa时实现了受约束的外平面运动,可调节的角位移低于5kPa.
- 执行器运动通过不同的SCE刚度和折叠折叠尺寸来有效调整.
- 将两个SCE集成到一个折叠上,使执行器能够在减压时恢复到其折叠的配置.
结论:
- SCE 显著增强了 IFB 的功能,提供可调节的运动和自折叠功能.
- 开发的执行器表现出了多功能性,在平面串行操纵器和软抓手中成功实现了.
- 这项研究为先进的软机器人系统提供了更好的控制和可重新配置的可能性.
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