面向多面体结构的多面效应软机器人多方位功能复用

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-10-08 DOI:10.1016/j.mechmachtheory.2025.106240

Yige Wu , Nan Huang , Shaowu Tang , Xiaohuang Liu , Xianxu Li , Sicong Liu , Juan Yi , Zheng Wang , Jian S Dai

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引用次数: 0

摘要

软机器人在非结构化环境中提供了灵活性，尽管许多设计仍然是针对特定任务量身定制的。在本文中，我们提出了一种采用多面体结构的多面效应器（MFEs）来设计软体机器人的创新方法。特别是，三个软腔致动器（SBAs）在八面体结构的每个面构成相同的三角形效应器。利用执行器的两种不同的运动形式-均匀缩放运动（USM）和协调变形运动（CDM）， MFE机器人既可以作为吞咽夹持器（MFG）又可以作为平行手臂（MFA），无需复杂的设计即可展示多功能。使用POC方程的拓扑分析验证了MFE设计的6个自由度（DOFs）运动。机器人沿z轴有5个对称自由度和1个不对称平移自由度。绕z轴旋转35.7°。机器人能够抓取直径36.3-109.1 mm范围内的物体，最大持力可达7n。建立并验证了MFA运动的正、逆运动学模型。平移时的均方根误差为1.6 mm，旋转时的均方根误差为0.9°，最大面内误差为3.97 mm。多面操作、爬升和对象检索的演示验证了多向函数重用的好处。

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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A Multi-Facet-Effector Soft Robot in Polyhedral Configuration for Multidirectional Function Reuse

Soft robots offer flexibility in unstructured environments, though many designs remain tailored to specific tasks. In this paper, we propose an innovative approach employing Multi-Facet-Effectors (MFEs) in polyhedral configuration for the design of a soft robot. In particular, three Soft-Bellowed Actuators (SBAs) constitute the identical triangle effector in each facet of an octahedral-shaped configuration. Utilizing the effector’s two distinct motion forms—Uniform Scaling Motion (USM) and Coordinated Deformation Motion (CDM), the MFE robot functions both as gulp grippers (MFG) and parallel arms (MFA), exhibiting versatile capabilities without intricate designs. A topological analysis using the POC equation validates MFE design’s 6 degrees-of-freedom (DOFs) movements. The robot exhibits 5 symmetric DOFs and an asymmetric translational DOF along the Z-axis. The rotation around the Z-axis achieving 35.7°. The robot is able to grasp objects within a diameter range of 36.3-109.1 mm, with the maximum holding force up to 7 N. Forward and inverse kinematics models for the MFA movements are established and validated. An RMS error of 1.6 mm in translation and 0.9° in rotation is achieved, with a maximum in-plane error of 3.97 mm. Demonstrations of multi-facet manipulation, climbing, and object retrieval validate the benefits of multidirectional function reuse.

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry