一个可调整硬度的软执行器,具有可调节的阻塞,用于巧妙的操纵
1Marine Robotics Lab Department of Mechanical Engineering, University of Wisconsin, Madison, Madison, Wisconsin, USA.
Soft robotics
|December 24, 2025
概括
我们开发了阻塞可调节的PneuNet Actuator (JAPA),这是一个柔软的机器人手指,可以调节刚度和曲. 这种新的设计增强了机器人的灵巧性和力量控制,用于多功能应用.
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:
- 软机器人执行器需要可适应的刚性和可控制的曲,以便进行高级操纵.
- 现有的软手指往往缺乏动态调整其物理属性的能力.
- 混合干扰技术为提高执行器性能提供了潜力.
研究的目的:
- 为了介绍一款新的软机器人手指,即阻塞可调节的PneuNet执行器 (JAPA).
- 为了证明JAPA同时进行刚性调节和可调节曲的能力.
- 评估JAPA在力量控制,灵巧和对象操纵方面的表现.
主要方法:
- 开发了JAPA,使用灵活的混合干扰方法,结合层层和颗粒式干扰.
- 集成了一个磁性定位的滑动机制,以调整层堵塞长度,以进行动态曲形状的重塑.
- 集成的分布式颗粒干扰用于适应性刚性增强.
主要成果:
- 雅帕实现了最大的3.55×. 的刚性增强.
- 工作空间扩张超过200%,多向力调节的改进超过300%.
- 成功操作计算机光标,并使用JAPA抓柄操纵各种物体.
结论:
- 在多向力控制和灵巧方面,JAPA提供了显著的进步.
- 这种设计可以安全地处理微妙和不规则形状的物体.
- 对于辅助机器人,自适应式抓取和人与人交互的设备来说,JAPA是有前途的.
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