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模式的节点:节点蜂巢超材料使软机器人具有多模式的移动能力
Yusuf Dikici1,2, Kathryn Daltorio1, Ozan Akkus1,3,4
1Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, United States of America.
Bioinspiration & biomimetics
|April 17, 2024
概括
3D打印软机器人MetaCrawler实现了灵感来自动物的多功能机动. 这种易于制造的系统可以在狭窄的空间和复杂的地形中导航,为搜救和检查任务提供了潜力.
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
- 生物模拟学是一种生物模拟学.
背景情况:
- 软体动物表现出多功能机动,用于在非结构化的环境中导航.
- 在软机器人中复制这种多式联动运动是具有挑战性的,因为制造复杂性和硬件集成限制.
研究的目的:
- 为了介绍MetaCrawler,3D打印的元材料软机器人,能够进行多式联动和全向移动.
- 为了展示软机器人具有集成分布式执行的简单制造过程.
主要方法:
- 设计了一个模块化的节点蜂巢网格,具有离散的软硬元件,以便轻松组装.
- 在硬节点内集成了一个分布式执行系统 (伺服电机,控制电路,电池).
- 开发了一个名为MetaCrawler的3D打印元材料软机器人.
主要成果:
- MetaCrawler实现了五种不同的运动模式:围心,侧向旋转,侧向转移,转向位置和 anguilliform.
- 在封闭的通道导航,垂直穿越和迷宫探索中表现出适应能力.
- 节点蜂巢架构促进了硬件安置和分布式执行.
结论:
- 软机器人系统MetaCrawler为多式联运机车提供了一个易于使用和易于制造的多式联运机车解决方案.
- 这种设计有可能用于搜索和救援,管道检查和太空探索等领域.
相关概念视频
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01:30Three-Dimensional Force System:Problem Solving
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