Sequential Multimodal Morphing of Single-Input Pneu-Nets.

IF 6.4 2区 计算机科学 Q1 ROBOTICS
Soft Robotics Pub Date : 2023-12-01 Epub Date: 2023-06-19 DOI:10.1089/soro.2022.0216
Han Bi Jeong, Cheongsan Kim, Anna Lee, Ho-Young Kim
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引用次数: 0

Abstract

Soft actuators provide an attractive means for locomotion, gripping, and deployment of those machines and robots used in biomedicine, wearable electronics, automated manufacturing, etc. In this study, we focus on the shape-morphing ability of soft actuators made of pneumatic networks (pneu-nets), which are easy to fabricate with inexpensive elastomers and to drive with air pressure. As a conventional pneumatic network system morphs into a single designated state, achieving multimodal morphing has required multiple air inputs, channels, and chambers, making the system highly complex and hard to control. In this study, we develop a pneu-net system that can change its shape into multiple forms as a single input pressure increases. We achieve this single-input and multimorphing by combining pneu-net modules of different materials and geometry, while harnessing the strain-hardening characteristics of elastomers to prevent overinflation. Using theoretical models, we not only predict the shape evolution of pneu-nets with pressure change but also design pneu-nets to sequentially bend, stretch, and twist at distinct pressure points. We show that our design strategy enables a single device to carry out multiple functions, such as grabbing-turning a light bulb and holding-lifting a jar.

单输入pneunets的顺序多模态变形。
软致动器为生物医学、可穿戴电子、自动化制造等领域中使用的机器和机器人的运动、抓取和部署提供了一种有吸引力的手段。在这项研究中,我们重点研究了由气动网络(pneunets)制成的软执行器的形状变形能力,气动网络易于用廉价的弹性体制造,并且可以用气压驱动。由于传统的气动网络系统变形为单一指定状态,实现多模态变形需要多个空气输入、通道和腔室,使得系统高度复杂且难以控制。在这项研究中,我们开发了一种可以随着单一输入压力的增加而将其形状改变为多种形式的气动网系统。我们通过结合不同材料和几何形状的气动网模块来实现这种单输入和多变形,同时利用弹性体的应变硬化特性来防止过度膨胀。利用理论模型,我们不仅预测了气动网的形状随压力变化的演变,而且设计了在不同压力点依次弯曲、拉伸和扭曲的气动网。我们展示了我们的设计策略使单个设备能够执行多种功能,例如抓住-转动灯泡和拿起-提起罐子。
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来源期刊
Soft Robotics
Soft Robotics ROBOTICS-
CiteScore
15.50
自引率
5.10%
发文量
128
期刊介绍: Soft Robotics (SoRo) stands as a premier robotics journal, showcasing top-tier, peer-reviewed research on the forefront of soft and deformable robotics. Encompassing flexible electronics, materials science, computer science, and biomechanics, it pioneers breakthroughs in robotic technology capable of safe interaction with living systems and navigating complex environments, natural or human-made. With a multidisciplinary approach, SoRo integrates advancements in biomedical engineering, biomechanics, mathematical modeling, biopolymer chemistry, computer science, and tissue engineering, offering comprehensive insights into constructing adaptable devices that can undergo significant changes in shape and size. This transformative technology finds critical applications in surgery, assistive healthcare devices, emergency search and rescue, space instrument repair, mine detection, and beyond.
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