使用多层波纹管型软气动执行器的软刚性混合外圆和棱柱关节:软硬混合夹具的设计、表征及其应用。

IF 6.4 2区 计算机科学 Q1 ROBOTICS
Peter Seungjune Lee,Cameron Sjaarda,Run Ze Gao,Jacob Dupuis,Maya Rukavina-Nolsoe,Carolyn L Ren
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引用次数: 0

摘要

尽管随着软体机器人技术的引入,机器人系统的功能呈指数级增长,但在设计和集成软体机器人组件方面缺乏实际考虑,阻碍了新开发技术在现实生活中的广泛应用。本研究调查了采用多层波纹管形软气动致动器(MBSPAs)的软硬混合(SRH)机器人系统的开发和性能评估,以克服软机器人技术中特有的常见挑战。具体来说,我们引入了一种独特的 SRH 旋卷关节,该关节由单个热塑性聚氨酯 MBSPA 和刚性部件组成,以解决现有软气动致动器(SPA)的局限性,如有效载荷能力受限、易受外部损坏以及缺乏对室外环境的适应能力等。拟议的 SRH 系统采用刚性组件封装,在整个所需运动范围内保护 MBSPA,并提高了位移效率、力输出和对外部负载的适应性。刚性组件还有助于稳定运动轴,提高耐用性和可重复性。我们还将这一概念扩展到单自由度 SRH 棱柱关节。我们采用有限元法建模来估算一般致动器的性能,从而在材料信息有限的情况下简化了 MBSPA 的设计,并避免了反复试验和出错。这项研究的更广泛应用是针对农业等行业的精密物体处理,鼓励安全高效的自动收割。文章对致动器的性能进行了全面鉴定,包括位移、频率响应、耐久性(寿命测试达 25,000 次)、力输出、刚度和功率密度。文章还提供了与其他 SPA 的性能比较。通过详细的工作空间分析和演示,展示了该机械手的多功能性。本文介绍的 SRH 系统为软机器人技术在现实生活中的应用奠定了坚实的基础,揭示了未来机器人在目标应用中高效运作的潜力,旨在与人类工人无缝集成到工作流程中。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Soft-Rigid Hybrid Revolute and Prismatic Joints Using Multilayered Bellow-Type Soft Pneumatic Actuators: Design, Characterization, and Its Application as Soft-Rigid Hybrid Gripper.
Despite the exponentially expanding capabilities of robotic systems with the introduction of soft robotics, the lack of practical considerations in designing and integrating soft robotic components hinders the widespread application of newly developed technology in real life. This study investigates the development and performance evaluation of soft-rigid hybrid (SRH) robotic systems employing multilayered bellow-shaped soft pneumatic actuators (MBSPAs) to overcome the common challenges exclusively exhibited in soft robotics. Specifically, we introduce a unique SRH revolute joint enabled by a single thermoplastic polyurethane-MBSPA and rigid components to tackle the limitations of existing soft pneumatic actuators (SPAs), such as restricted payload capacity, vulnerability to external damages, and lack of resilience against outdoor environment. The proposed SRH system entails rigid components encapsulating to protect the MBSPA throughout the entirety of the desired range of motion, and demonstrates improved displacement efficiency, force output, and resilience against external loads. The rigid components also help to stabilize the axis of motion, fostering high durability and repeatable motion. We also extend this concept to a one-degree of freedom SRH prismatic joint. Finite element method modeling is used to estimate the general actuator performance, facilitating the design of MBSPA with limited material information and bypassing trial and error. The wider application of this research targets delicate object handling in industries such as agriculture, encouraging safe and efficient automated harvesting. The article includes thorough actuator performance characterization including displacement, frequency response, durability with life cycle testing up to 25,000 cycles, force output, stiffness, and power density. Performance comparisons with other SPA are provided. A proof of concept 3-point gripper enabled by the proposed SRH joints is capable of gripping objects of various sizes and shapes, with detailed workspace analysis and demonstration showing the gripper's versatility. The SRH system presented here lays a robust foundation for the ongoing advancement of soft robotic technology toward real-life applications, unveiling the potential for a future in which robots operate efficiently in the targeted applications, aiming to integrate seamlessly into workflows with human workers.
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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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