受肌肉纤维结构启发的软气动执行器结构

Sreeshankar Satheeshbabu, Nicholas Thompson, Chenzhang Xiao, Girish Krishnan
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引用次数: 1

摘要

架构或网络在工程和自然材料系统中都很普遍,其中单个单元细胞以可重复的方式进行拓扑组合,以获得极端的全局特性。在本文中,我们致力于理解一种受笔触启发的结构,这种结构通常存在于骨骼肌中,以调整其笔触和力的特性。为了模拟肌肉纤维,我们使用柔软的柔性气动执行器,称为纤维增强弹性外壳(FREEs)来产生力和冲程。这些自由体以二元结构组合在一起,形成了一种工程等效的pennate肌肉,称为pennate building block (PBB)。对PBB的研究揭示了产生高冲程和力值的临界三角角。PBB因此作为一个等效的齿轮和其他传动元件在软机器人。最后,分析了pennate结构的两种变体的力变形能力,并将结果用于设计和实验验证面向不同应用的两个原型,从而突出利用结构来调整全局属性的好处。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Architectures of Soft Pneumatic Actuators Inspired by Muscle Fiber Arrangements
Architectures or networks are prevalent in both engineered and nature's material systems, where a single unit cell is topologically combined in a repeatable fashion to attain extremal global properties. In this paper, we work towards understanding one such architecture inspired by pennation, which is commonly found in skeletal muscles to tailor its stroke and force properties. To mimic muscle fibers, we use soft compliant pneumatic actuators called Fiber Reinforced Elastomeric Enclosures (FREEs) to generate force and stroke. The FREEs are combined in a dyadic configuration to create an engineered equivalent of pennate muscles called a pennate building block (PBB). The study of the PBB reveals critical pennate angles that produce high stroke and force values respectively. The PBB thus acts as an equivalent of a gear and other transmission elements in soft robotics. Lastly, two variant of the pennate architecture are analyzed for their force deformation capabilities and the results are used to design and experimentally validate two prototypes geared towards different applications thereby highlighting the benefits of leveraging architectures for tuning global properties.
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