Orimura:一种新型的软气动执行器

IF 3.6 3区 计算机科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS
Zinat Tasneem;Koichi Oka
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引用次数: 0

摘要

本文介绍了一种新颖的软气动执行器Orimura,其灵感来自于改进的Yoshimura折纸圆柱体,其设计明确地实现了大量的轴向伸长。为了确定最优配置,对8种改进的Yoshimura纸模型进行了精确评估。该执行器是通过将水彩纸折叠成折纸图案并涂上Ecoflex 00-50弹性体来制造的,形成了一种灵活而坚固的纸-弹性体复合材料。为了确保气密性,结构被额外的纸弹性体层密封。使用注射泵实现驱动:执行器在正压下伸展,在真空下收缩。建立了一个数学模型来描述折纸结构的几何参数之间的关系,特别是变化的排高度,以及由此产生的高度比。该模型通过严格的实验测试过程得到了验证。制作并测试了三种Orimura结构,显示了可观的轴向伸长率,范围从262%到638%。值得注意的是,横截面积为3375 mm2的最大执行器配置实现了638%的最大延伸比,同时承受高达其重量15倍的负载而不会显著降低性能。即使在其重量22倍的负载下,执行机构也保持了585%的相当大的延伸,表明了很高的承载能力。值得注意的是,合并纸加固有效地抑制横向膨胀在操作过程中。此外,数学模型表明,甚至更大的伸长率可以通过增加致动器的尺寸来实现。这些结果强调了Orimura的创新结构设计及其对软机器人领域可定制、高性能执行器发展的潜在贡献。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Orimura: A Novel Soft Pneumatic Actuator
This paper introduces Orimura, a novel soft pneumatic actuator inspired by a modified Yoshimura Origami cylinder, designed explicitly for substantial axial elongation. To identify an optimal configuration, eight variations of modified Yoshimura paper models were precisely evaluated. The actuator was fabricated by folding watercolor paper into an origami pattern and coating it with Ecoflex 00-50 elastomer, forming a flexible yet robust paper–elastomer composite. To ensure air-tightness, the structure was sealed with additional paper–elastomer layers. Actuation was achieved using a syringe pump: the actuator extended under positive pressure and contracted under vacuum. A mathematical model was developed to describe the relationship between the geometric parameters of the origami structure, specifically the varying row heights, and the resulting height ratio. This model was validated through a rigorous experimental testing process. Three Orimura configurations were fabricated and tested, demonstrating substantial axial elongation ranging from 262% to 638%. Notably, the largest actuator configuration with a cross-sectional area of 3375 mm2 achieved a maximum extension ratio of 638% while sustaining loads up to 15 times its weight without significant performance degradation. Even under a load 22 times its weight, the actuator maintained a considerable extension of 585%, indicating high load-bearing capacity. Significantly, the incorporation of paper reinforcement effectively suppressed lateral expansion during operation. Furthermore, the mathematical model suggests that even greater elongation may be achieved by increasing the actuator’s dimensions. These results underscore Orimura’s innovative structural design and its potential contribution to the development of customizable, high-performance actuators in the field of soft robotics.
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来源期刊
IEEE Access
IEEE Access COMPUTER SCIENCE, INFORMATION SYSTEMSENGIN-ENGINEERING, ELECTRICAL & ELECTRONIC
CiteScore
9.80
自引率
7.70%
发文量
6673
审稿时长
6 weeks
期刊介绍: IEEE Access® is a multidisciplinary, open access (OA), applications-oriented, all-electronic archival journal that continuously presents the results of original research or development across all of IEEE''s fields of interest. IEEE Access will publish articles that are of high interest to readers, original, technically correct, and clearly presented. Supported by author publication charges (APC), its hallmarks are a rapid peer review and publication process with open access to all readers. Unlike IEEE''s traditional Transactions or Journals, reviews are "binary", in that reviewers will either Accept or Reject an article in the form it is submitted in order to achieve rapid turnaround. Especially encouraged are submissions on: Multidisciplinary topics, or applications-oriented articles and negative results that do not fit within the scope of IEEE''s traditional journals. Practical articles discussing new experiments or measurement techniques, interesting solutions to engineering. Development of new or improved fabrication or manufacturing techniques. Reviews or survey articles of new or evolving fields oriented to assist others in understanding the new area.
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