在像内镜一样的软机器人中编码所需的变形形状
Daniel S Esser1, Margaret F Rox1, Robert P Naftel2
1Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212 USA.
IEEE transactions on medical robotics and bionics
|September 18, 2025
概括
连续机器人现在可以具有不同的刚度,提供更大的设计灵活性. 这项研究引入了一种方法来建模这些机器人,通过将力量投射到它们的度中心,简化分析以提高性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 材料科学 材料科学 材料科学
背景情况:
- 传统的连续机器人模型假设均的刚性,限制了设计的可能性.
- 增材制造技术的进步使得可以创建具有复杂,空间变化的刚度配置文件的机器人.
- 对于均硬度机器人的现有建模技术并不直接适用于可变硬度设计.
研究的目的:
- 为具有几何变化的刚度的连续机器人开发一个建模框架.
- 展示如何利用不同的刚度来增强机器人运动和工作空间.
- 通过实验验证拟议的建模方法,并探索其在神经外科任务中的应用.
主要方法:
- 将外部力量和时刻投射到机器人的度中心 (Young的模量加权中心).
- 利用可变刚度机器人中的刚度中心与均刚度机器人中的曲脊柱之间的类比.
- 将已建立的Cosserat Rod建模技术应用于具有硬度变化的机器人.
主要成果:
- 度中心概念有效地简化了具有不均度的连续机器人的建模.
- 这种类比允许直接应用之前的Cosserat Rod建模工作到可变刚度机器人.
- 使用多材料,软,肌驱动机器人的实验验证证证了模型的准确性.
- 刚度变化被证明有可能改善模拟神经外科任务中的性能.
结论:
- 在连续机器人建模中放松统一的刚性假设,为设计和控制开辟了新的途径.
- 度投影方法的中心为分析可变度机器人提供了一种强大而可泛化的方法.
- 该框架促进了先进制造技术的整合,以创建复杂的软机器人.
- 这些发现对提高机器人的性能在诸如神经外科手术等具有挑战性的应用中具有实际意义.
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