单立体静电执行器具有独立的刚性调制
Yuejun Xu1, Jian Wen1,2, Etienne Burdet1
1Department of Bioengineering, Imperial College London, London, UK.
Nature communications
|January 30, 2025
概括
这项研究引入了一种新型的电动硬带驱动器,它通过快速调整硬度和缓冲来模仿生物肌肉. 这种人工肌肉为软机器人提供了增强的力传输和动态响应.
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
- 生物模拟学是一种生物模拟学.
背景情况:
- 软执行器在动态环境中比刚性机器人更有优势,因为它们具有灵活性.
- 然而,内在合规性限制了力传输和动态性能.
- 生物肌肉可以动态调节环境相互作用的刚性和阻尼.
研究的目的:
- 开发一种能够具有高收缩和可调节的刚度的单体执行器,模仿生物肌肉的适应性特性.
- 为了整合介电液-液体-放大电静力来进行收缩和电气流体来进行快速的刚性/阻尼调整.
- 为了提高软机器人执行器的力传输能力和动态响应.
主要方法:
- 开发了一种使用介电液增强电静电力的电刚性带式驱动器.
- 整合电修液,以快速 (<10毫秒) 调节刚性和阻尼.
- 收缩力调制和动态响应改进的特征.
主要成果:
- 电硬化带式驱动器在可变电阻的被动弹能力上实现了超过2.5倍的延伸.
- 动态反应有超过50%的改善,包括更快的收缩和振荡减弱.
- 展示了可穿戴机器人和自适应机器人手臂在主动,被动和双连接功能中的多功能性.
结论:
- 电硬化带驱动器成功地复制了生物肌肉调节硬度和阻尼能力的能力.
- 这项技术显著提高了软机器人执行器的力传输和动态性能.
- 执行器的适应性为先进的可穿戴机器人和抗冲击机器人系统开辟了新的可能性.
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