具有可变刚度关节的可重构折纸,用于自适应机器人运动和抓取。

IF 4.3 3区 综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES
Elisha Lerner, Zhe Chen, Jianguo Zhao
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引用次数: 0

摘要

折纸具有小巧和可折叠的特点,最近已被应用到机器人系统中,以实现多功能机器人和机械装置,同时保持低重量和小巧的外形。这项工作研究了如何通过即时调整折纸折痕的刚度,为折纸生成不同的运动和形状。刚度调节是通过在两层形状记忆聚合物之间夹一层热塑性塑料而制成的复合材料来实现的。这使得复合材料成为一个活铰链,其刚度可通过焦耳加热主动控制。为了展示我们的概念,我们制作了一个具有四个可变刚度接头(VSJ)的折纸模块,使其表面的折痕刚度可以自由控制。我们描述了折纸模块在不同温度下加热不同 VSJ 时的多变运动特性。我们还利用两个折纸模块制作了一个双腿机器人,它可以在地面上以不同的运动步态行走。同一机器人还可用作自适应抓手,执行抓取任务。我们的工作有可能使折纸机器人系统以及其他具有可编程特性的机械系统(如机械超材料)具有更多功能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Reconfigurable origami with variable stiffness joints for adaptive robotic locomotion and grasping.

With its compactness and foldability, origami has recently been applied to robotic systems to enable versatile robots and mechanisms while maintaining a low weight and compact form. This work investigates how to generate different motions and shapes for origami by tuning its creases' stiffness on the fly. The stiffness tuning is realized by a composite material made by sandwiching a thermoplastic layer between two shape memory polymer layers. This enables the composite to act as a living hinge, whose stiffness can be actively controlled through Joule heating. To demonstrate our concept, we fabricate an origami module with four variable stiffness joints (VSJs), allowing it to have freely controlled crease stiffnesses across its surface. We characterize the origami module's versatile motion when heating different VSJs with different temperatures. We further use two origami modules to build a two-legged robot that can locomote on the ground with different locomotion gaits. The same robot is also used as an adaptive gripper for grasping tasks. Our work can potentially enable more versatile robotic systems made from origami as well as other mechanical systems with programmable properties (e.g. mechanical metamaterials).This article is part of the theme issue 'Origami/Kirigami-inspired structures: from fundamentals to applications'.

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来源期刊
CiteScore
9.30
自引率
2.00%
发文量
367
审稿时长
3 months
期刊介绍: Continuing its long history of influential scientific publishing, Philosophical Transactions A publishes high-quality theme issues on topics of current importance and general interest within the physical, mathematical and engineering sciences, guest-edited by leading authorities and comprising new research, reviews and opinions from prominent researchers.
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