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一个快速响应的软端效应器,灵感来自于蜂鸟

Jiajia Shen^1,2, Martin Garrad^3,4, Qicheng Zhang⁵

¹Bristol Composites Institute (BCI), School of Civil, Aerospace and Design Engineering, University of Bristol , Bristol BS8 1TR, UK.

Journal of the Royal Society, Interface

|September 3, 2024

概括

工程师们创造了一种柔软的机器人抓手,灵感来自于蜂鸟的. 这种生物灵感设计使用弹性不稳定性来实现快速,强大的运动,增强机器人的能力.

科学领域:

* 机器人技术机器人技术
* 生物启发的工程
* 非线性力学非线性力学

背景情况:

*生物学上的弹性不稳定性使得快速运动成为可能.
* 蜂鸟的嘴巴通过快速变形而快速关闭.
*软机器人可以从功率放大机制中受益.

研究的目的:

*设计和测试一种新的,快速响应的软端效应器,灵感来源于蜂鸟的机制.
*研究弹性不稳定性作为软机器人的功率放大机制.
* 了解压力前场在实现快速,高效的机器人运动中的作用.

主要方法:

* 非线性有限元模拟与连续算法相结合.
*对平衡多元体和结分叉的分析.
* 热塑性聚氨原型终端效应器的实验测试.

主要成果:

* 确定了弹性能量积累和爆炸物释放的关键中间旋转输入.
* 数字模拟得到了原型性能实验结果的支持.
* 证明有效地将能量转移到一个摆形,验证了生物灵感设计.

结论:

*生物灵感设计有效地利用弹性不稳定性,在软机器人中实现快速,强大的启动.
* 前应力场对于软机器人系统的高输入到输出能效至关重要.
*开发的终端效应器显示了需要爆炸性作用的机器人应用的潜力.

关键词:

弹性裁弹性裁能量放大能量放大功能形态学功能形态学可以编程的可编程性.快速突破的不稳定性保持良好的非线性结构.

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