源码执行器与调节限制层,用于形态自适应软机器人.
Kejin Zhu1,2,3, Yang Yang1,2,3, Sheng Xiang1,2,3
1School of Automation, Nanjing University of Information Science and Technology, Nanjing, China.
Soft robotics
|December 24, 2025
概括
这项研究介绍了一种使用混合气动和电机控制的新型原木执行器. 它的可调节的限制层允许可适应的形状重新配置,使软机器人的多功能应用成为可能.
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:
- 灵感来自于Origami的执行器提供了独特的变形能力.
- 现有的设计往往缺乏适应性,无法适应各种任务.
- 混合动力驱动方法可以增强控制和功能.
研究的目的:
- 开发一个带有可调节的限制层的原始动作器.
- 为了实现执行器形态的按需重新编程.
- 为了证明执行器在软机器人应用中的实用性.
主要方法:
- 采用了米乌拉原木结构,并使用了一层延展限制层.
- 实现了混合动力气动和伺服电机驱动,用于长度调节.
- 制造软机器人抓手,爬行机器人和两机器人.
主要成果:
- 执行器展示了可调的向外延伸和向内曲.
- 实现了可调节的曲角度范围从28.5°到171.9°.
- 在功能软机器人原型中成功应用了执行器.
结论:
- 可调节的限制层允许对环境适应进行形态重构.
- 这种原木执行器设计显著提高了软机器人的多功能性.
- 混合动力驱动方法提供了对驱动器输出的精确控制.
相关概念视频
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The mechanical efficiency of a machine is a fundamental concept that describes how effectively a machine can convert input work into output work. According to this concept, the efficiency of a machine is equal to the ratio of the output work to the input work. An ideal machine, meaning a machine that has no energy losses, has an efficiency of one. This implies that the input work and the output work are equal.
However, in reality, no machine can be truly ideal, and all of them experience some...
However, in reality, no machine can be truly ideal, and all of them experience some...
01:22Mechanical Systems
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically described...