可重新配置,可转换的软气动执行器,可调整的三维变形,用于巧妙的软机器人应用
Dickson Chiu Yu Wong1, Mingtan Li1, Shijie Kang1
1Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Hong Kong, Hong Kong.
Soft robotics
|September 17, 2024
概括
一个新的可重新配置,可转换的软气动执行器 (RT-SPA) 克服了传统PneuNet设计的局限性. 这种可适应的软执行器为各种机器人应用提供了多功能曲和扭动动作.
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
- 机械工程 机械工程
背景情况:
- 气动网络 (PneuNet) 执行器在软机器人技术中被广泛使用.
- 现有的PneuNet设计在制造过程中确定了固定的功能.
- 这限制了它们对动态任务的适应性和重新配置性.
研究的目的:
- 为了引入一个可重新配置,可转换的软气动执行器 (RT-SPA).
- 为了实现可控转换的多功能运动能力.
- 通过可选择的驱动单元来展示可适应的3D变形.
主要方法:
- 详细设计和制造的RT-SPA.
- 对RT-SPA性能进行实验性评估.
- 运动,抓住和操纵能力的演示.
主要成果:
- 该RT-SPA展出了受控的曲和扭曲运动.
- 可变执行单元允许各种3D变形.
- 执行器在移动,抓取和对象操纵任务中表现出适应性.
结论:
- 与传统的PneuNet执行器相比,RT-SPA提供了增强的多功能性.
- 它的可重新配置设计允许在软机器人领域更广泛的应用.
- 这种进步促进了更具适应性和动态性的机器人功能.
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