一种计算方法用于驱动连续关节中的内路由通道
Jens Reinecke1, Bastian Deutschmann1, Alexander Dietrich1
1Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany.
Soft robotics
|December 13, 2024
概括
这项研究介绍了一种基于软机器人的肌通道的新型模型设计,克服了摩擦和干扰问题. 这一创新使得肌驱动连续机器人的精确控制和增强的工作空间.
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:
- 肌驱动的连续软机器人提供了有前途的应用,但在肌路由方面面临着挑战.
- 现有的方法,如内部的登层会引起摩擦,而外部的路由可能会损伤肌.
- 这些问题限制了机器人的性能和工作空间.
研究的目的:
- 开发一种基于模型的新方法,用于设计连续软机器人的综合肌通道.
- 为这些新型肌通道建立制造工艺.
- 通过原型和实验验证来证明拟议方法的有效性.
主要方法:
- 使用基于模型的设计方法计算连续结构中的肌通道.
- 道被侵蚀到连续体中,以确保肌在不与结构相互作用的情况下移动.
- 一个连续关节模块原型被制造和测试.
主要成果:
- 综合肌通道有效消除了摩擦和干扰问题.
- 设计的连续接头模块实现了滚动和动的运动,并且具有很大的工作空间.
- 实验验证证了该系统的功能,包括对ANYmal机器人的行走实验.
结论:
- 针对综合肌通道的拟议基于模型的设计方法是软机器人的重大进步.
- 这种方法提高了肌驱动连续机器人的性能,控制和工作空间.
- 开发的方法和原型为更强大和多功能软机器人系统铺平了道路.
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