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使用可部署的带弹附带器进行抓取和滚动的飞机内操纵

Gengzhi He¹, Curtis Sparks¹, Nick Gravish¹

¹Department of Mechanical and Aerospace Engineering, University of California San Diego, 9500 Gilman Dr., La Jolla, CA 92093, USA.

Science advances

|April 9, 2025

概括

研究人员为机器人操纵器开发了双向带弹指,使得长距离和紧的存储. 这一创新允许多功能对象操纵,在具有挑战性的环境中更安全,更柔软的接触.

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:

刚性机器人手臂在平衡触及距离和紧的存储方面存在局限性.
可部署的结构,如带弹,为这种权衡提供了一个潜在的解决方案.

研究的目的:

开发用于机器人操纵的新型双向带弹"手指".
将这些手指整合到机器人操纵器中,以提高功能.

主要方法:

开发具有高曲强度的双向带弹手指.
将手指集成到名为GRIP-tape (平面配置中的抓取和滚动) 的机器人操纵器中.
探索连续动力学,用于各种操纵能力.

主要成果:

发达的手指可以被卷入紧的状态,并用于对象操纵.
格里普磁带操纵器在转换,旋转,扭转和多物体传输方面表现出能力.
手指表现出硬度和软度的双重特性,确保碰撞安全和柔软接触.

结论:

双向带弹的手指解决了机器人手臂的达到与存储之间的权衡.
格里普磁带操纵器提供先进的操纵功能,具有固有的安全性.
可部署的带弹结构对于混乱或远程环境中的机器人应用具有前景.

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