生物灵感扭曲的人工肌肉,增强了水下应用的性能
Jin Sun1, Yuan Fu1, Shijng Zhang1
1State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongjiang Province, 150001, China.
Advanced science (Weinheim, Baden-Wurttemberg, Germany)
|July 11, 2025
概括
工程师们为水下机器人开发了新的扭曲人工肌肉 (TAM). 这些以植物为灵感的TAM提供了增强的变形,力和热管理,以提高水上机器人的性能.
科学领域:
- 机器人学和生物模拟学
- 材料科学 材料科学 材料科学
背景情况:
- 扭曲的人工肌肉 (TAMs) 显示出机器人运动和操纵的潜力.
- 现有的TAM在水下应用中面临挑战,包括有限的变形,输出力和散热,特别是对于热驱动系统.
研究的目的:
- 开发一种新的TAM配置,以改善水下机器人功能.
- 解决水生环境中变形,输出力和热管理方面的局限性.
主要方法:
- 提出了一种新的TAM配置,使用编织和预先扭曲的纤维捆,灵感来自爬行植物.
- 包含一个柔软的绝缘层,模仿密封油脂,以最大限度地减少散热.
- 开发了一种采用弹性能量存储和释放机制的快速执行单元.
主要成果:
- 在300克的负载下达到40.0%的收缩比.
- 由于绝缘层,证明了30.5°C的温度差异,减少了热损失.
- 在水中使用快速执行单元达到180°s-1的角速度.
- 一个生物射线演示器实现了105毫米的位移和30°的转角度每次启动周期.
结论:
- 新的TAM配置显著提高了水下应用的变形和输出力.
- 集成的绝缘和快速启动系统提高了水环境中的效率和性能.
- 这些进步使得拟议的TAM对未来的水下机器人系统具有高度前景.
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