低档折叠机制用于多DoF反控制
Hwayeong Jeong1, Jung Kim2, Jamie Paik1
1Reconfigurable Robotics Laboratory, EPFL, 1015, Lausanne, Switzerland. jamie.paik@epfl.ch.
Soft matter
|June 13, 2025
概括
这项研究介绍了一种嵌入式气动系统,具有超薄的执行器,传感器和传动器,用于软机器人. 它可以实现适应性,可重新配置的结构,并对复杂的任务进行精确的反控制.
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:
- 软结构通过多个自由度 (DoF) 提供适应性.
- 将可重新配置的机器人系统集成到软结构中是有效的力/扭矩传输的关键.
- 在优化软系统中执行,传感和传输组件的空间分布方面存在挑战.
研究的目的:
- 为软结构提供一个嵌入式气动系统,具有超薄的执行器,可集成的传感器和模块化变速箱.
- 为了使机器人系统的无,空间高效的集成和灵活的重新配置.
- 为了证明精确控制折叠序列和角度在原创灵感的表面.
主要方法:
- 开发了一种具有滚动隔膜执行器的超薄气动系统.
- 集成一个光学传感器模块用于低调的反.
- 采用模块化变速箱,以实现可适应的冲程长度和重新配置.
- 实施反控制,以原创灵感的表面.
主要成果:
- 该系统实现了高面积比 (约. 10) 和中风长度高达其厚度的五倍.
- 滚动膜机制最大限度地减少了摩擦和关节应力.
- 证明了折叠序列和角度的精确反控制.
- 这些组件被紧地嵌入到一个灵感来自于原创的表面中.
结论:
- 拟议的系统为具有复杂几何形状的大型机器人系统提供了一个可扩展和可定制的基础.
- 它可以在软机器人应用中实现分布式控制和适应性.
- 该技术支持在可重新配置结构中无部署和增强性能.
相关概念视频
01:24One-Degree-of-Freedom System
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In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
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01:22Controller Configurations
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01:27Support Reactions in Three Dimensions
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01:26Feedback control systems
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01:14Stability of structures
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01:26PD Controller: Design
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