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一个灵感来自Teleost的多式联动机器人软机器人,带有高带宽的人工肌肉

Zhenyi Chai¹, Wei Gao¹, Jingwen Kong¹

¹Institute of Humanoid Robots, School of Engineering Science, University of Science and Technology of China, Hefei, China.

|December 30, 2025

概括

这项研究介绍了一种以鱼为灵感的软机器人 (TMSR),它有两个人工肌肉,能够在陆地和水中进行多式移动. 机器人模仿鱼的运动,包括一个独特的逃生模式,展示了适应性和多功能性.

科学领域:

机器人技术机器人技术机器人技术
生物模拟学是一种生物模拟学.
软机器人软机器人软机器人软机器人

背景情况:

鱼类利用对称的肌肉,以不同的收缩速度,在水和陆地上进行各种运动模式 (爬行,游泳,逃跑).
这种生物原理使得简单的身体结构能够有效地生存.

研究的目的:

提出一个灵感来自于远距离的多式交通软机器人 (TMSR),能够进行水下和陆地运动.
开发和探索使用不同收缩带宽的不对称形状记忆合金 (SMA) 人造肌肉的运动模式.

主要方法:

设计了一种轻量级的,类似鱼类的软机器人 (TMSR),配有两个不对称地排列的SMA人造肌肉.
为 SMA 肌肉开发了各种收缩反应组合,以实现不同的运动模式.
进行了性能实验,并开发了机械模型来分析肌肉特性.

主要成果:

TMSR实现了五种不同的运动模式,包括独特的逃跑运动,模仿鱼类的行为.
在不同地形 (水和陆地) 上表现出极好的适应性和适应性.
与类似机器人相比,仿生设计导致了较低的质量模式比率,更高的灵活性和多功能性.

结论:

该TMSR成功地复制了鱼类类的多式移动,使用简单的仿生设计.
这项研究强调了使用具有差异带宽的SMA人造肌肉用于多功能机器人运动的有效性.
这项研究扩大了软机器人在各种环境中的应用潜力.

关键词:

人造肌肉是人工肌肉.灵感来自鱼类的机器人多式联网机车是多式联网机车.形状记忆合金的合金软机器人的软机器人

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