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可变刚度变形轮,灵感来自液滴的表面张力
Jae-Young Lee1,2, Seongji Han3,4, Munyu Kim5
1Advanced Robotics Research Center, Korea Institute of Machinery and Materials, University of Science and Technology, Daejeon 34103, Korea.
Science robotics
|August 14, 2024
概括
这项研究引入了一种新的可变刚度轮,灵感来自液滴表面张力,可以调整其形状以克服障碍物. 这项创新增强了轮椅等系统的移动性,而无需复杂的控制.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 材料科学 材料科学 材料科学
背景情况:
- 轮子对于机器人的运动和运输是必不可少的,因为它们的效率.
- 传统的车轮难以跨越障碍物,限制了它们的多功能性.
研究的目的:
- 开发一种具有可变刚度的轮子,能够适应其形状以改善障碍物穿越.
- 为了模仿轮子设计的液滴的表面张力原理.
主要方法:
- 一个新的轮子设计,利用智能链块和可调节的电线杆张力.
- 在刚性 (高模块) 和可变形 (低模块) 状态之间过渡的受控张力.
- 将可变刚度轮融入120公斤双轮轮椅系统中.
主要成果:
- 车轮成功地演示了高模块和低模块状态之间的实时状态过渡.
- 可变形状态允许车轮适应障碍物,促进横行.
- 刚性状态为在平面上高速移动提供了优势.
结论:
- 可变刚度轮提供了一个被动的,无控制的解决方案,用于在移动机器人和轮椅中加强障碍谈判.
- 这种仿生设计为可适应的机动系统提供了一个有希望的方法.
- 该技术在现实世界的户外环境中经过验证,使用装载轮椅.
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