Meshworm: A Peristaltic Soft Robot With Antagonistic Nickel Titanium Coil Actuators
Meshworm: A Peristaltic Soft Robot With Antagonistic Nickel Titanium Coil Actuators
复制标题
DOI：
10.1109/tmech.2012.2204070
复制
发表时间：
2013-10-01
影响因子：
6.4
通讯作者：
Kim, Sangbae
中科院分区：
文献类型：
--
作者：
Seok, Sangok;Onal, Cagdas Denizel;Kim, Sangbae
本文介绍了完整的开发和分析的软机器人平台，具有蠕动运动。设计原理是基于寡毛纲的环形和纵向肌群的拮抗性排列。在柔性编织网状管结构中使用围绕圆周缠绕成螺旋图案的镍钛（NiTi）线圈致动器来实现顺序对抗运动。NiTi螺旋弹簧的增强理论模型描述了马氏体变形和弹簧弹性的组合作为几何形状的函数。网格结构的数值模型揭示了蠕动驱动如何引起鲁棒的运动，并详细说明了周向镍钛致动器的收缩变形。根据速度对几种蠕动运动模式进行建模、测试和比较。利用纵向放置的额外NiTi弹簧圈，结合了转向能力。本体感受电位器感测节段收缩，这使得能够开发闭环控制器。基于运动速度和能量消耗，设计了几种合适的控制算法，并进行了实验比较。整个机械结构由柔性网状材料制成，在运行过程中可以承受明显的外部冲击。这种方法通过采用灵活的控制单元和能源来实现完全柔软的机器人平台。（一）
This paper presents the complete development and analysis of a soft robotic platform that exhibits peristaltic locomotion. The design principle is based on the antagonistic arrangement of circular and longitudinal muscle groups of Oligochaetes. Sequential antagonistic motion is achieved in a flexible braided mesh-tube structure using a nickel titanium (NiTi) coil actuators wrapped in a spiral pattern around the circumference. An enhanced theoretical model of the NiTi coil spring describes the combination of martensite deformation and spring elasticity as a function of geometry. A numerical model of the mesh structures reveals how peristaltic actuation induces robust locomotion and details the deformation by the contraction of circumferential NiTi actuators. Several peristaltic locomotion modes are modeled, tested, and compared on the basis of speed. Utilizing additional NiTi coils placed longitudinally, steering capabilities are incorporated. Proprioceptive potentiometers sense segment contraction, which enables the development of closed-loop controllers. Several appropriate control algorithms are designed and experimentally compared based on locomotion speed and energy consumption. The entire mechanical structure is made of flexible mesh materials and can withstand significant external impact during operation. This approach allows a completely soft robotic platform by employing a flexible control unit and energy sources.(1)