气动自愈软执行器可重复愈合性的自主测试

Julie Legrand, Arsen Abdulali, David Hardman, Seppe Terryn, Bram Vanderborght, Fumiya Iida
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引用次数: 0

摘要

自愈(SH)致动器所能承受的最大伤害和愈合周期数,即其可重复愈合性,从未被评估过。其中一个原因是,可治愈性总是手动测试的。通常,操作人员使用锋利的刀片手动损坏执行器,并将损坏的边缘放回一起以使其愈合。这个过程很耗时,这就解释了为什么只有有限数量的伤害和治疗周期被报道。此外,由于手动损坏不可能总是在完全相同的位置进行,因此这导致对执行器可重复性的不准确估计。因此,我们提出了一种自动和自主评估软SH致动器可重复愈合性的方法。它采用了一个由损伤站和修复站组成的机器人系统,其中驱动器使用机械臂在两者之间自动移动。执行器内部集成的传感器与专用表征算法一起使用,以自动指示执行器是否被适当损坏和愈合。我们提出了该系统的一个典型用例,执行并分析了自修复Diels-Alder驱动器的63个损坏周期。在53个循环之后,执行器将永远不会再正常愈合,因此,我们认为这个周期是被测执行器的最大可重复愈合能力。因此,在实验中,shdiels - alder致动器的可修复性不是无限的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Autonomous Testing of the Repeatable Healability of Pneumatic Self-Healing Soft Actuators
The maximum number of damage and healing cycles that can be endured by a self-healing (SH) actuator, that is, its repeatable healability, has never been assessed. One reason for this is because healability was always tested manually. Typically, an operator uses a sharp blade to manually damage the actuator and places both damaged edges back together for them to heal. This process is time consuming, which explains why only a limited amount of damage and healing cycles has been reported. Moreover, this leads to an inaccurate estimation of how repeatable the actuator's healability is, since manual damage cannot be always performed at the exact same location. Therefore, we present a method to automatically and autonomously assess the repeatable healability of a soft SH actuator. It uses a robotic system composed of a damage station and a healing station, which the actuator is automatically moved between using a robotic arm. A sensor integrated inside the actuator is used alongside a dedicated characterization algorithm to automatically indicate whether the actuator is properly damaged and healed. We present a typical use case of the system, performing and analyzing 63 damage cycles of a selfhealing Diels–Alder actuator. After 53 cycles, the actuator will never properly heal again, therefore, we consider this cycle to be the maximum repeatable healability of the tested actuator. The healability of the SH Diels–Alder actuator is, therefore, not infinite experimentally.
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