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软电磁滑动执行器用于高度符合平面运动,使用微流体导电线圈阵列
Yeongjin Choi1,2, Gyowook Shin3, Sohee John Yoon1,2
1Department of Mechanical Engineering, Seoul National University, Seoul, South Korea.
Soft robotics
|September 10, 2024
概括
我们开发了一个柔软的电磁滑动执行器,用于符合机器人系统. 这种新型执行器提供精确的平面运动控制,降低了功耗,以及多功能表面操作.
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
- 电磁主义 电磁主义
背景情况:
- 开发符合标准的执行系统对于先进的机器人技术至关重要.
- 现有的执行器经常面临灵活性,功耗和多表面操作的限制.
- 软电磁执行器为克服这些挑战提供了潜力.
研究的目的:
- 提出和描述一种新的软电磁滑动执行器.
- 为了使高度合规的执行系统能够实现多功能平面运动.
- 为了展示执行器在机器人应用中的功能.
主要方法:
- 设计一个柔软的驱动基 (静电器) 与一个平行液体金属线圈阵列,以最大化电磁场密度.
- 使用可拉伸的磁性元件来稳定滑动器的定位,没有外部约束.
- 实现一个不受束的结构,以减少功耗和可编程轨迹控制.
- 采用电感变化测量用于滑动器位置估计.
主要成果:
- 执行器通过可编程的轨迹实现稳定的平面运动.
- 它表现出由于无设计而降低了功耗.
- 执行器在曲和倾斜的表面上成功运行.
- 位置估计是通过感应变化测量来实现的.
结论:
- 拟议的软电磁滑动执行器为符合要求的执行提供了一个独特的解决方案.
- 它的设计使灵活的运动控制,降低了功耗,并适应各种表面.
- 执行器显示了先进的机器人应用的前景,如形状变形和集成传感.
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