一个软气管执行器的经验模型
Zhe Qiu1, Shengyang Zhang1, Yitong Xue1
1Department of Robotics, Ritsumeikan University, Kusatsu, Japan.
Scientific reports
|November 20, 2024
概括
研究人员开发了一种实证模型,用于3D打印软 bellows 执行器,这对于非结构化环境中的软机器人至关重要. 这个模型准确地预测了执行器的力量,使得软抓柄设计能够有效地处理产品.
科学领域:
- 软机器人软机器人 软机器人
- 执行器设计 执行器设计
- 材料科学 是一种材料科学.
背景情况:
- 软机器人在非结构化环境中提供优势,例如食品工厂,因为它们的灵活性.
- 开发有效的软执行器和材料是软机器人应用的关键.
- 软机器人的建模具有挑战性,因为它们的复杂性和连续性.
研究的目的:
- 设计和建模一个3D打印的软气管执行器.
- 评估其适合于创建用于实际产品处理的软抓柄.
- 开发一种用于预测执行器输出力的经验模型.
主要方法:
- 提出了一个综合 bellows 几何学和材料性能的经验模型.
- 进行了有限元模拟,使用不同的 bellows 设计.
- 使用3D打印的 bellows 执行器进行实验验证.
主要成果:
- 经验模型准确地预测了软 bellows 执行器输出力.
- 在力预测中实现了低平均绝对和相对误差.
- 通过使用开发的模型,成功设计和验证了机器人抓手.
结论:
- 经验模型为软 bellows 执行器设计和控制提供了宝贵的见解.
- 开发的软抓手对于处理各种产品是有效的.
- 这项工作推动了软机器人在工业环境中的应用.
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