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相关概念视频

Mechanical Systems01:22

Mechanical Systems

736
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...
736

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Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers
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设计,建模和实验研究可变刚度的气动生物灵感软执行器.

Wenchuan Zhao1, Shijie Wu1, Kunlin Zhang1

  • 1School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, People's Republic of China.

Bioinspiration & biomimetics
|March 6, 2026
PubMed
概括

这项研究介绍了一种由章鱼触角启发的新型气动软执行器,提供可调节的刚度,以增强承载能力和操纵能力. 生物灵感设计在刚性和接触力方面取得了显著的改进,推进了软机器人技术.

科学领域:

  • 软机器人软机器人 软机器人软机器人
  • 生物启发工程 生物启发工程
  • 材料科学 材料科学 材料科学

背景情况:

  • 章鱼的触手表现出了非凡的灵巧和可变的刚性,激发了新的机器人设计.
  • 现有的软执行器往往缺乏精确的刚性控制和强大的承载能力.

研究的目的:

  • 开发一种具有可变刚性的气动软执行器,其灵感来自章鱼触手.
  • 提高软机器人系统的承载能力和操纵性能.
  • 为优化软执行器设计提供理论框架.

主要方法:

  • 使用数值模拟来分析室内几何形状,墙壁厚度和长度的影响.
  • 使用Yeoh超弹性构成模型和时刻平衡,开发了一个变形分析模型.
  • 使用伪刚体模型和能量等效原理制定了可变刚度模型.
  • 原型是使用快速原型制造制造的,并通过实验验证.

主要成果:

  • 执行器展示了多模态变形:延长,曲和环形偏移.
  • 实验验证证证实了静态和可变刚度模型的准确性.
  • 实现了40%的刚度增加和23.59%的水平接触力增强.
关键词:
气动驱动的执行方式软执行器执行器软执行器软机器人的软机器人可变刚度方法的方法.

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相关实验视频

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结论:

  • 拟议的气动软执行器有效地实现了可变的刚性和更好的性能.
  • 该研究为设计先进的气动和液压软机器人提供了宝贵的见解.
  • 生物启发的方法为软机器人应用提供了实用和高效的解决方案.