细A射:通过弹性结构的离散数组扩展软合规
Loong Yi Lee1,2, Silvia Terrile1, Saekwang Nam1,3
1School of Engineering Mathematics and Technology, University of Bristol, and the Bristol Robotics Laboratory, Bristol, United Kingdom.
Soft robotics
|September 24, 2025
概括
研究人员开发了Fin-A-Rays,模块化软机器人抓手用切片的Fin Ray手指. 这些抓器为复杂的物体提供了增强的适应性和新的抓行为.
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:
- 传统的软机器人抓手只有几个数字限制了适应性.
- 通过灵活的结构增加数字数量可以提高合规性和适应性.
研究的目的:
- 调查"切割"Fin Ray软抓柄到离散的手指 (Fin-A-Rays) 的影响.
- 分析手指宽度对抓柄硬度和物体接触的影响.
- 定义性能指标,以了解"切割"对把握的影响.
主要方法:
- 有限元分析用于研究手指宽度效应.
- 基于FIN-A-RAY设计空间的实验和模拟研究.
- 基于对象图像的Fin-A-Ray配置设计算法的开发.
主要成果:
- 离散的遵守使得新的抓取行为,如手指伸展和扭曲.
- 在指尖宽度的平衡对于最佳的Fin-A-Ray性能至关重要.
- 在性能指标上,算法设计的Fin-A-Rays在性能指标上胜过了统一的配置.
结论:
- 精细射线展示了新的能力,包括多物体抓取和手中的操纵.
- 被动形态适应性简化了精细抓握的抓握计划.
- 精细A射线使复杂形状的采摘和包装能够以增强的灵活性进行.
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