A Compliant Telescopic Limb with Anisotropic Stiffness
A Compliant Telescopic Limb with Anisotropic Stiffness
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DOI：
10.3389/frobt.2016.00080
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发表时间：
2017-02-01
影响因子：
3.4
通讯作者：
Rossiter, Jonathan
中科院分区：
文献类型：
--
作者：
Fishman, Aaron;Garrad, Martin Stephen;Rossiter, Jonathan
具有各向异性刚度的软肢在自然界中很常见，使动物能够解决各种任务，包括运动和操纵。这种硬度和柔软性的混合使动物能够有效地控制在执行此类任务时发生的不可预测的接触力。软体机器人技术面临的挑战是创造模仿硬度和柔软度的自然混合物的假肢，作为软体、适应性强的机器人的构建块。本文介绍了一种具有可调节长度和各向异性刚度的新型气动肢体模块的设计。假肢设计有橡胶波纹管内的刚性伸缩内骨骼，我们证明它能够抵抗屈曲，同时保持外部柔软。最后，我们提出了基于肢体单元的六足行走器的设计。
Soft limbs with anisotropic stiffness are common in nature and enable animals to solve a variety of tasks, including locomotion and manipulation. This mixture of hardness and softness enables animals to efficiently control the unpredictable contact forces that occur while performing such tasks. A challenge for soft robotics is to create artificial limbs that mimic natural mixtures of hardness and softness for use as a building block for soft, adaptable robots. This article presents the design of a novel pneumatic limb module with adjustable length and anisotropic stiffness. The artificial limb is designed with a rigid telescopic endoskeleton inside a rubber bellow, which we show is able to resist buckling, while remaining externally soft. Finally, we present the design of a hexapod walker based on the limb units.