一种可现场无系绳软机器人3D打印与快速成型方法。

IF 6.4 2区 计算机科学 Q1 ROBOTICS
Zach J Patterson, Dinesh K Patel, Sarah Bergbreiter, Lining Yao, Carmel Majidi
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引用次数: 7

摘要

因为它们是由弹性可变形和柔顺的材料制成的,所以软体机器人可以被动地改变形状并适应它们的环境,这比传统的机器人方法提供了潜在的优势。然而,现有的制造工作流程通常是劳动密集型的,并且在创建高度集成的三维(3D)异质材料系统的能力方面受到限制。在这项研究中,我们通过简化的工作流程来解决这个问题,以生产基于硅类软材料的数字光处理(DLP) 3D打印的可现场部署的软机器人。基于dlp的3D打印用于创建软执行器(2.2 g),能够施加高达0.5牛顿的力,并集成到仿生无系绳软机器人中。这个机器人在水下行走的速度与它的生物模拟物——海蛇尾——相当。使用无模型规划算法和反馈,机器人遵循远程命令移动到期望的位置。此外,我们展示了机器人能够在实验室外和自然水生环境中进行无系绳运动。我们的研究结果代表了3D打印无系绳软机器人在软机器人制造自主性方面的进展。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Method for 3D Printing and Rapid Prototyping of Fieldable Untethered Soft Robots.

Because they are made of elastically deformable and compliant materials, soft robots can passively change shape and conform to their environment, providing potential advantages over traditional robotics approaches. However, existing manufacturing workflows are often labor intensive and limited in their ability to create highly integrated three-dimensional (3D) heterogeneous material systems. In this study, we address this with a streamlined workflow to produce field-deployable soft robots based on 3D printing with digital light processing (DLP) of silicone-like soft materials. DLP-based 3D printing is used to create soft actuators (2.2 g) capable of exerting up to 0.5 Newtons of force that are integrated into a bioinspired untethered soft robot. The robot walks underwater at speeds comparable with its biological analog, the brittle star. Using a model-free planning algorithm and feedback, the robot follows remote commands to move to desired positions. Moreover, we show that the robot is able to perform untethered locomotion outside of a laboratory and in a natural aquatic environment. Our results represent progress in soft robot manufacturing autonomy for a 3D printed untethered soft robot.

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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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