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双室一级模具执行器,直曲形镜设计,用于大范围运动和结构稳定性
Qinlin Tan1, Yanlin Chen2, Meng Zhou1
1Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China.
Advanced science (Weinheim, Baden-Wurttemberg, Germany)
|November 20, 2025
概括
一个新的双室软执行器实现了大范围的运动和提高稳定性使用原木灵感的纹. 这种设计使实用软机器人应用的多维运动成为可能.
科学领域:
- 软机器人软机器人 软机器人
- 材料科学是一种材料科学.
- 机械工程 机械工程 机械工程
背景情况:
- 软执行器对于可适应的机器人至关重要,但往往缺乏同时的大运动范围和结构稳定性.
- 气动驱动软件在实现高可变形性和强度方面面临着挑战.
研究的目的:
- 引入一种新的软执行器设计,解决现有气动执行器的局限性.
- 为了实现多维运动,包括大延伸/收缩和曲,以改善结构完整性.
主要方法:
- 开发了一种双室直曲折折原形镜式 (SCOP) 执行器.
- 通过使用单一材料的一步成型制造.
- 系统分析原则,建模和设计.
主要成果:
- SCOP执行器显示轴移位高达106.7% (51.1%的延长,55.6%的收缩).
- 实现超过160°的双向曲,与曲线形 bellows 相比,结构稳定性增加了209%.
- 通过集成到可穿戴辅助设备,软抓手和爬行机器人中进行验证.
结论:
- SCOP执行器为软机器人提供了一个高性能,实用的解决方案.
- 该设计提供了大范围的多方向运动,增强了强度和可靠性.
- 灵感来自于Origami的异型刚性是实现所需执行器性能的关键.
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