迈向高度集成的3D打印软连续机械臂

J. M. Salgueiro, J. Reis
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引用次数: 1

摘要

软连续体机器人是一种结构柔顺的装置,旨在利用这一特性来促进与周围环境的交互。然而,在结构顺应性和执行有用的机械工作的能力之间有一个微妙的平衡。在文献中,离轴操纵已被确定为这些机器人面临的挑战之一。本文以研究和改进离轴操作为目的,对基于软波弹簧结构的软连续体机械臂机器人模块进行了设计和实验评估。给出了有限元仿真结果,使波浪弹簧在特定尺寸约束下的优化设计成为可能。文中还描述了一个工作样机,并给出了在轴内和离轴载荷下的结构评估以及几种载荷情况下的轨迹跟踪的实验结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Towards a Highly Integrated 3D Printed Soft Continuum Manipulator
Soft continuum robot manipulators are structurally compliant devices that aim to take advantage of this characteristic to facilitate interaction with the surrounding environment. However there is a delicate balance between structural compliance and the ability to perform useful mechanical work. Off-axis manipulation has been identified in literature as one of the challenges posed to these robots. In this paper the design and experimental evaluation of a soft continuum manipulator robot module, based on a soft wave spring structure, is addressed with the aim of studying and improving off-axis manipulation. Finite element simulation results are presented, that allow to optimize the design of the wave spring for a specific set of dimensional constraints. A working prototype is also described, and experimental results are presented regarding the evaluation of the structure in both in-axis and off-axis loading, and also for trajectory following under several load cases.
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