使用液态金属电磁致动器的可编程变形软机器人结构。

IF 6.4 2区 计算机科学 Q1 ROBOTICS
Piotr Bartkowski, Łukasz Pawliszak, Siddhi G Chevale, Paweł Pełka, Yong-Lae Park
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引用次数: 0

摘要

软机器人、可拉伸电子器件或柔性医疗设备的不断发展,迫使研究人员寻找能在外部物理刺激下改变形状的新型柔性结构。本研究提出了一种软机器人结构,它能在电流通过嵌入式液态金属导体时改变形状,形成不同的三维(3D)构型,从而实现电磁驱动。拟议的结构由串联的体积像素(体素)组成,每个体素都可以通过输入电流和真空压力进行独立控制。单个体素由颗粒核心(GC)和硅橡胶外壳组成。外壳内嵌有充满液态金属的通道。在电流作用下,液态金属通道产生的洛伦兹力会改变结构的形状。GC 使结构在变形后仍能保持其形状,即使在电流关闭时也是如此。这归功于颗粒干扰效应。在本研究中,我们展示了这一概念、多物理场仿真结果和实验表征,包括三维数字图像相关或三维磁场扫描等技术,以研究该结构的不同特性。我们证明了所提出的结构可以变形为多种不同的形状,振幅高于 10 毫米,而且这一过程是完全可逆和可重复的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Programmable Shape-Shifting Soft Robotic Structure Using Liquid Metal Electromagnetic Actuators.
Constant development of soft robots, stretchable electronics, or flexible medical devices forces the research to look for new flexible structures that can change their shapes under external physical stimuli. This study presents a soft robotic structure that can change its shape into different three-dimensional (3D) configurations in response to electric current flown through the embedded liquid-metal conductors enabling electromagnetic actuation. The proposed structure is composed of volumetric pixels (voxels) connected in series where each can be independently controlled by the inputs of electrical current and vacuum pressure. A single voxel is made up of a granular core (GC) with an outer shell made of silicone rubber. The shell has embedded channels filled with liquid metal. The structure changes its shape under the Lorentz force produced by the liquid metal channel under applied electrical current. The GC allows the structure to maintain its shape after deformation even when the current is shut off. This is possible due to the granular jamming effect. In this study, we show the concept, the results of multiphysics simulation, and experimental characterization, including among other techniques, such as 3D digital image correlation or 3D magnetic field scanning, to study the different properties of the structure. We prove that the proposed structure can morph into many different shapes with the amplitude higher than 10 mm, and this process can be both fully reversible and repeatable.
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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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