用于软机器人的磁性双圆顶执行器,具有高体积容量和运动稳定性的软机器人
Chayut Buranabunwong1, Xingxiang Li1, Shutong Nong1
1Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, P.R. China.
ACS applied materials & interfaces
|January 16, 2025
概括
这项研究介绍了一种用于软机器人的磁性控制的双稳定圆顶执行器. 这项创新简化了复杂的变形,使得无线机器人应用程序的精确控制成为可能.
科学领域:
- 软机器人软机器人 软机器人软机器人
- 材料科学 材料科学 材料科学
- 执行技术 执行技术
背景情况:
- 磁响应软执行器为软机器人提供无操作和快速响应.
- 由于灵活的软执行器具有很高的自由度,控制它们的复杂变形仍然是一个重大挑战.
研究的目的:
- 开发一个磁力驱动的可变形圆顶形软执行器,以简化和控制变形.
- 研究设计策略和磁化对执行器状态转换的影响.
- 为了证明执行器在各种软机器人应用中的实用性.
主要方法:
- 设计和制造一个可分两位的圆顶形软执行器.
- 使用外部磁场来控制执行器状态转换.
- 执行器变形,体积变化和滚动运动能力的表征.
主要成果:
- 双立体圆顶执行器可靠地在两个不同的状态之间过渡,具有显著的体积变化.
- 执行器的自然曲率有助于高效的滚动运动.
- 展示的应用包括可控执行阵列,脉冲和用于流体操纵的滚动机器人.
结论:
- 拟议的磁驱动双稳定圆顶执行器简化了软机器人的控制.
- 这种设计提高了软机器人系统的多功能性和效率,用于诸如流体处理等任务.
- 执行器显示了先进的无绳机器人应用的巨大潜力.
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