通过三维打印的多功能扣关节提高软机器人抓手,手和爬行机器人的多功能性和性能
Chih-Wen Ou Yang1, Shao-Yi Yu1,2, Che-Wei Chan1
1Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan.
Soft robotics
|February 22, 2024
概括
这项研究引入了新的真空激活软机器人手指关节,提高了刚性和响应. 这些3D打印的曲关节使先进的机器人抓手和运动系统具有更高的性能.
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:
- 软机器人抓手提供安全性和适应性,但在刚性和负载能力方面面临限制.
- 现有的软机器人设计在快速响应和显著的承载能力方面扎.
研究的目的:
- 开发真空驱动软机器人手指关节,克服刚性,响应时间和承载能力的限制.
- 通过创新的联合设计,提高软机器人系统的功能和性能.
主要方法:
- 使用参数设计和3D打印来优化软机器人手指关节.
- 使用曲机制与真空压力相结合,以达到高刚度和大曲角度.
- 为了验证实验结果,进行了理论建模和非线性有限元模拟.
主要成果:
- 优化的关节表现出高刚度,大曲角度 (>90°),快速响应时间 (0.24秒).
- 展示的应用包括具有高提升比率 (∼96) 的三指抓手和能够进行复杂的手势和物体抓取的五指手.
- 用0.89 BL/s的平面爬行机器人携带30倍重量的机器人和以水母为灵感的机器人爬行0.47 BL/s的机器人展示了运动能力.
结论:
- 新型真空驱动的曲关节显著提高了软机器人抓手的性能,扩大了它们的应用范围.
- 3D打印的多功能曲关节为软机器人技术的创新提供了途径,提高了承载能力,速度和灵巧度.
- 该研究通过模拟和实验验证了机械原理,为未来软机器人设计提供了基础.
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