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Updated: Jun 19, 2025

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多模式软可实现物理响应,用于软机器人的先发性弹性
Marco Pontin1,2, Dana D Damian1,2,3
1Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, UK.
Science robotics
|July 24, 2024
概括
这项研究引入了一种新型的多式气动软,可以被动保护软机器人免受刺穿和过压等损伤. 这种弹性软提高了运行寿命,使用最小的资源.
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:
- 生物系统通过自我保护机制表现出弹性,例如人类对伤口的免疫反应.
- 气动软机器人需要弹性来克服诸如穿孔和过压等常见故障.
- 软机器人的现有弹性方法通常依赖于复杂的控制器,大型数据集或外部硬件,限制了它们的适用性.
研究的目的:
- 开发一种多式气动软,用于软机器人的被动,故障触发的弹性反应.
- 在软机器人中使用最小的计算和物理资源来实现损害预防和隔离.
- 延长受损软机器人的使用寿命.
主要方法:
- 展示了一种多式气动软,具有前置和倒置操作模式.
- 测试了门在毫秒内隔离穿孔充气元件的能力.
- 评估了门的保护过度压力和防止塑料变形的能力.
- 将软集成到软机器人设计中,包括抓手和爬行机器人.
主要成果:
- 软自主隔离的软充气元件在21毫秒内就被刺穿了.
- 门被动地防止过压,防止塑料变形和破裂.
- 组合模式创造了一个内源控制的门,用于自主爆破隔离.
- 在软机器人中展示了门的单体集成,展示了它的小足迹.
结论:
- 开发的多式气动软为基于控制器的弹性提供了被动,分布式和小尺寸的替代方案.
- 这种方法显著提高了软机器人的运行寿命和可靠性.
- 门的快速响应和集成能力为不间断,持久的软机器人操作铺平了道路.
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