原始外骨架用于增强软机器人操纵
Kangjia Fu1, Xuesong Wu1, Sunquan Yu1
1Defense Innovation Institute, Chinese Academy of Military Science, Beijing 100071, China.
Science advances
|July 30, 2025
概括
研究人员开发了一种灵感来自的柔软机器人的原木外骨架. 这种设计通过平衡灵活性与承载任务所需的高刚度来增强操纵能力.
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:
- 软机器人提供了很大的变形,但由于材料刚度低,因此与高输出力作斗争.
- 现有的软机器人手臂对于抓取和携带等操纵任务的承载能力有限.
研究的目的:
- 为了解决软机器人的低力输出挑战.
- 通过提高承载能力来增强软机器人臂的操纵能力.
- 将一种新的外骨设计与软执行器相结合.
主要方法:
- 设计了一种灵感来自外的原木外骨架,结合了柔性-刚性安排和机械多稳定性.
- 整合了原始人外骨与软执行器,以创建增强的机器人手臂.
- 评估了外骨在稳定状态下提供高刚度的能力,并允许长冲动过渡.
主要成果:
- 原始外骨架设计在稳定状态下达到高刚性,同时允许长冲动过渡.
- 外骨架有效地平衡了可变形性和必要的承载能力,当与软执行器集成时.
- 用外骨架增强的软臂在操纵任务中表现出更好的灵巧性和负载能力.
结论:
- 拟议的原木外骨架显著提高了现有的软机器人手臂的操纵潜力.
- 这种设计为增加软机器人的承载能力提供了可行的解决方案.
- 应用包括对无人地面和空中飞行器进行增强操作.
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