空中轨道引导的自主软环机器人
Fangjie Qi1, Caizhi Zhou1, Haitao Qing1
1Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA.
Advanced science (Weinheim, Baden-Wurttemberg, Germany)
|April 25, 2025
概括
一个自主软机器人使用恒定光线在3D轨道上导航. 这种扭曲的环形机器人,灵感来自空中电车,通过绕着线索曲,克服障碍物和承载重物,以线性移动.
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
- 软机器人软机器人 软机器人软机器人
背景情况:
- 软机器人在复杂的环境中提供了独特的优势,因为它们的灵活性.
- 在3D空间中精确的运动控制仍然是软机器人系统的重大挑战.
- 现有的软机器人往往需要复杂的时空控制操作源的导航.
研究的目的:
- 开发一个自主软机器人,能够在3D空间中导航预定义的轨道.
- 为了实现运动控制,使用恒定的光热驱动,而无需复杂的外部控制.
- 为了证明机器人的适应性和在各种轨道上承载能力.
主要方法:
- 从液晶弹性体制造一个柔软的扭曲环机器人.
- 使用恒定红外光进行光热启动,诱导自转动.
- 采用螺丝理论将旋转运动转化为沿着线程轨道的线性运动.
主要成果:
- 软环机器人在不断的光热驱动下自主导航各种3D轨道 (圆形,多角形,螺旋形).
- 机器人展示了障碍物谈判 (例如,节点) 和上升/下降坡 (高达80°) 的能力.
- 机器人成功地运输了超过自身重量的12倍的负载,并适应了各种材料和尺寸的轨道.
结论:
- 开发的软扭环机器人为3D环境提供了一种新的自主移动策略.
- 光热驱动和基于螺丝的机制提供了强大的和可适应的导航能力.
- 这种方法克服了复杂的控制系统的局限性,并展示了多功能软机器人应用的潜力.
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