Amplifying the response of soft actuators by harnessing snap-through instabilities
Amplifying the response of soft actuators by harnessing snap-through instabilities
复制标题
DOI：
10.1073/pnas.1504947112
复制
发表时间：
2015-09-01
影响因子：
11.1
通讯作者：
Bertoldi, Katia
中科院分区：
文献类型：
--
作者：
Overvelde, Johannes T. B.;Kloek, Tamara;Bertoldi, Katia
柔软的可充气段是负责驱动软机器和机器人的主动元件。虽然流体致动器的当前设计实现了具有大幅度的运动，但是它们需要大量的供应体积，限制了它们的速度和紧凑性。为了规避这些限制，在这里，我们拥抱不稳定性，并表明它们可以被利用来放大系统的响应。通过结合实验和数值工具，我们设计和构造流体致动器，其中利用快速通过不稳定性产生大的运动，高的力，并在恒定的体积快速驱动。我们的研究为下一代软致动器和机器人的设计开辟了道路，其中少量的体积足以实现显着的运动范围。
Soft, inflatable segments are the active elements responsible for the actuation of soft machines and robots. Although current designs of fluidic actuators achieve motion with large amplitudes, they require large amounts of supplied volume, limiting their speed and compactness. To circumvent these limitations, here we embrace instabilities and show that they can be exploited to amplify the response of the system. By combining experimental and numerical tools we design and construct fluidic actuators in which snap-through instabilities are harnessed to generate large motion, high forces, and fast actuation at constant volume. Our study opens avenues for the design of the next generation of soft actuators and robots in which small amounts of volume are sufficient to achieve significant ranges of motion.