基于粒子阻塞的可变刚度生物灵感吞抓手
Mingge Li1, Xiaoming Huang1, Quan Liu1
1School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China.
Soft robotics
|July 26, 2024
概括
这项研究以黑猩猩为灵感,提出了可变度吞抓手 (VSSG). 这种创新的抓手可以在软和刚性状态之间切换,提高适应性和承载能力,以安全地处理物体.
科学领域:
- 机器人学和生物模拟学
- 材料科学 材料科学 材料科学
- 机械工程 机械工程
背景情况:
- 驼使用独特的舌头吞机制来捕捉和保护猎物.
- 现有的抓器往往在适应性和在不同负载下保持抓强度方面扎.
研究的目的:
- 为了设计,制造和测试一种新的可变刚度吞抓器 (VSSG),灵感来自黑猩猩的舌头行为.
- 整合一个粒子干扰机制与软机器人,以适应物体操纵.
主要方法:
- 该VSSG的构造是使用带有粒子-液体介质的亲密和偶然膜.
- 采用了一种粒子阻塞机制,由液态水排放控制,以在软态和刚态之间过渡.
- 进行了持有和挤出力的数学建模,随后进行了实验验证.
主要成果:
- VSSG在软体状态下成功地吞了各种物体,展示了灵活性和适应性.
- 在通过颗粒堵塞过渡到刚性状态时,抓手的承载能力大约翻了一番.
- 对比研究证实了VSSG的显著承载能力.
结论:
- 在VSSG有效地模仿麻雀吞行为,以实现多功能物体处理.
- 可变刚度设计显著提高了适应性和承载能力.
- 这项技术为需要适应性和坚固抓地力的应用提供了有前途的解决方案.
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