利用生物启发的听小骨强化技术提高连续软体机器人的有效载荷能力

IF 2.2 3区工程技术 Q2 ENGINEERING, MECHANICAL

Actuators Pub Date : 2024-07-12 DOI:10.3390/act13070265

Jacek Garbulinski, Sai C. Balasankula, N. Wereley

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引用次数: 0

摘要

软体连续机器人的特点是灵巧和顺应性，但在小负荷下往往会因屈曲而受到限制。本研究通过加入生物启发的径向支撑或听小骨，探索如何提高使用伸展流体人工肌肉（EFAM）内在驱动的软体机器人的轴向性能。通过在不同压力条件（103.4-517.1 kPa）下进行准静态力响应实验，并采用修改后的欧拉柱屈曲模型，我们证明了听小骨可显著提高机器人的抗屈曲能力，从而扩大了其在有效载荷承载任务中的应用范围。这些发现不仅强调了听小骨加固在提高结构坚固性方面的有效性，还为未来优化软体机器人设计以提高性能的研究铺平了道路。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Increasing Payload Capacity of a Continuum Soft Robot Using Bio-Inspired Ossicle Reinforcement

Soft continuum robots, characterized by their dexterous and compliant nature, often face limitations due to buckling under small loads. This study explores the enhancement of axial performance in soft robots intrinsically actuated with extensile fluidic artificial muscles (EFAMs) through the incorporation of bio-inspired radial supports, or ossicles. By conducting quasi-static force response experiments under varying pressure conditions (103.4–517.1 kPa), and a modified Euler column buckling model, we demonstrate that ossicles significantly increase the robots’ resistance to buckling, thereby extending their application scope in payload-carrying tasks. These findings not only underscore the effectiveness of ossicle reinforcement in improving structural robustness but also pave the way for future research to optimize soft robot design for enhanced performance.

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来源期刊

Actuators Mathematics-Control and Optimization

CiteScore

3.90

自引率

15.40%

发文量

315

审稿时长

11 weeks

期刊介绍： Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.