内骨架 柔软的多指手具有可变硬度
Dayu Pan1, Peng Yan1, Yunong Li1
1School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China.
Soft robotics
|April 18, 2024
概括
这项研究引入了一种具有可变刚度的新型软机器人手,用于处理脆弱的物品. 它独特的设计允许可调节的刚度,增强细致和不规则形状的物体的抓地安全性.
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:
- 软软的机器人手在处理微妙物体时提供了优势.
- 在柔软的手中,高灵活性可以限制负载能力.
- 可变的刚度对于灵活处理脆弱物品至关重要.
研究的目的:
- 为了引入一种新的柔软的多指手,具有可变硬度的能力.
- 为了能够安全地抓住和操纵脆弱和不规则形状的物体.
- 解决软机器人的灵活性和负载能力之间的权衡问题.
主要方法:
- 一只柔软的手的设计,手指有三个腔室和一个嵌入的内骨架机制.
- 在专门的腔室中利用负气压来通过摩擦调节手指的刚性.
- 在硬度调整室内实现内骨架.
主要成果:
- 在柔软的机器人手指中证明了成功的刚性调整.
- 在特定方向下验证了硬化能力.
- 能够坚强地抓住脆弱的物体,包括一个球泡和豆,并举起一个沉重的物体.
结论:
- 提出的柔软的多指手有效地实现了可变硬度.
- 基于内骨架的可变刚度机制提高了对各种脆弱物体的抓取性能.
- 这项技术在需要精细操纵的应用中显示出巨大的潜力.
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