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格子结构的肌肉骨机器人:利用可编程的几何拓和异型
Qinghua Guan1, Benhui Dai1, Hung Hon Cheng1
1CREATE Lab, Institute of Mechanical Engineering, School of Engineering, EPFL, Lausanne 1015, Switzerland.
Science advances
|July 16, 2025
概括
研究人员开发了一种新的编程方法,用于使用可调节格子几何结构的生物灵感软硬机器人结构. 这种方法可以精确控制硬度和异质性,从而创建具有不同机械性能的适应性机器人.
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
- 生物工程是生物工程.
背景情况:
- 自然的肌肉骨系统通过软硬的组件的整合表现出了显著的适应性和精确的机械行为.
- 设计模仿这种软硬集成的机器人系统在材料和结构工程中提出了重大挑战.
研究的目的:
- 提出一种新的编程方法,用于设计生物灵感的软硬机器人结构,使用格子几何学.
- 通过先进的几何设计,使机器人元件的刚性和异构性能够精确调整.
主要方法:
- 开发了用于晶格单元单元的几何设计的新方法,包括现有几何结构的连续混合和叠加.
- 制造了一个灵感来自肌肉骨的,肌驱动的机器人大象,具有可编程的曲配置文件和连续柔软的干部.
- 探索了超过100万个离散的格子配置和无限的几何变化.
主要成果:
- 在格子结构中实现了对刚性和异构的精确控制,使空间变化的机械性能成为可能.
- 展示了具有机械性质的3D结构的创建,从类似组织的遵守到类似骨的刚性.
- 成功制造了一个复杂的机器人系统,大象,展示了可适应和可编程的曲.
结论:
- 提出的格子几何生成技术为设计具有量身定制的机械性能的轻量级,可适应的机器人提供了可扩展的解决方案.
- 这种方法可以创建机器人,有效地模仿自然肌肉骨系统的适应性和精确功能.
- 微调机械性能的能力为各种应用中先进的机器人设计打开了新的道路.
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