生物启发多材料软机械手的集成设计制造与控制

IF 10.5 Q1 ENGINEERING, BIOMEDICAL
Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-08-08 eCollection Date: 2023-01-01 DOI:10.34133/cbsystems.0051
Samuel Alves, Mihail Babcinschi, Afonso Silva, Diogo Neto, Diogo Fonseca, Pedro Neto
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引用次数: 0

摘要

几个世纪以来,模仿人类的机器一直激励着科学家。受生物启发的软体机器人手就是这种努力的一个很好的例子,它具有内在的材料顺应性和连续运动性,能够应对不确定性并适应非结构化环境。最近的研究在软机器人的功能设计、建模、制造和控制方面取得了具有影响力的成就。然而,要完全实现栩栩如生的动作仍具有挑战性,从设计到制造往往需要反复试验,耗费大量时间和资源。本研究提出了一种软机器人手,由软致动器核心和外骨骼组成,采用多材料设计,并通过有限元分析(FEA)确定手的几何形状,提高手指的可弯曲性。致动器采用模塑工艺制作,外骨骼则采用三维打印工艺一次成型。即使在出现泄漏的情况下,一个开-关控制器也能使设定的手指内压与特定的弯曲角度保持一致。实验测试验证了有限元分析的数值结果,以及手抓取不同形状、重量和尺寸物体的能力。这种集成解决方案将使人们能够以更低的成本获得软机械手,避免了耗时的设计-制造-试错过程。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Integrated Design Fabrication and Control of a Bioinspired Multimaterial Soft Robotic Hand.

Integrated Design Fabrication and Control of a Bioinspired Multimaterial Soft Robotic Hand.

Integrated Design Fabrication and Control of a Bioinspired Multimaterial Soft Robotic Hand.

Integrated Design Fabrication and Control of a Bioinspired Multimaterial Soft Robotic Hand.

Machines that mimic humans have inspired scientists for centuries. Bioinspired soft robotic hands are a good example of such an endeavor, featuring intrinsic material compliance and continuous motion to deal with uncertainty and adapt to unstructured environments. Recent research led to impactful achievements in functional designs, modeling, fabrication, and control of soft robots. Nevertheless, the full realization of life-like movements is still challenging to achieve, often based on trial-and-error considerations from design to fabrication, consuming time and resources. In this study, a soft robotic hand is proposed, composed of soft actuator cores and an exoskeleton, featuring a multimaterial design aided by finite element analysis (FEA) to define the hand geometry and promote finger's bendability. The actuators are fabricated using molding, and the exoskeleton is 3D-printed in a single step. An ON-OFF controller keeps the set fingers' inner pressures related to specific bending angles, even in the presence of leaks. The FEA numerical results were validated by experimental tests, as well as the ability of the hand to grasp objects with different shapes, weights, and sizes. This integrated solution will make soft robotic hands more available to people, at a reduced cost, avoiding the time-consuming design-fabrication trial-and-error processes.

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来源期刊
CiteScore
7.70
自引率
0.00%
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审稿时长
21 weeks
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