Mechanical Programming of Soft Actuators by Varying Fiber Angle
Mechanical Programming of Soft Actuators by Varying Fiber Angle
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DOI：
10.1089/soro.2015.0001
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发表时间：
2015-03-01
期刊：
影响因子：
7.9
通讯作者：
Bertoldi, Katia
中科院分区：
文献类型：
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作者：
Connolly, Fionnuala;Polygerinos, Panagiotis;Bertoldi, Katia
在这项工作中，我们调查的纤维角度的纤维增强软流体致动器的变形的影响，并检查这些致动器轴向延伸的方式，径向扩展和扭转其轴作为输入压力的函数。我们研究了纤维角度和致动器变形之间的定量关系，通过有限元模拟的致动器与一系列不同的纤维角度，我们验证了模拟结果，通过实验表征的致动器。通过串联组合致动器段，我们可以实现针对特定任务定制的运动组合。我们证明了这一点，通过使用单独的致动器的模拟结果，设计一个分段的蠕虫状软机器人能够推动自己通过一个管和执行特定方向的钉插入任务的管的末端。了解这些软流体致动器的纤维角度和加压响应之间的关系，可以快速探索设计空间，为令人兴奋的软机器人概念的迭代打开大门，例如柔性和顺应性内窥镜，管道检测设备和装配线机器人。
In this work we investigate the influence of fiber angle on the deformation of fiber-reinforced soft fluidic actuators and examine the manner in which these actuators extend axially, expand radially and twist about their axis as a function of input pressure. We study the quantitative relationship between fiber angle and actuator deformation by performing finite element simulations for actuators with a range of different fiber angles, and we verify the simulation results by experimentally characterizing the actuators. By combining actuator segments in series, we can achieve combinations of motions tailored to specific tasks. We demonstrate this by using the results of simulations of separate actuators to design a segmented wormlike soft robot capable of propelling itself through a tube and performing an orientation-specific peg insertion task at the end of the tube. Understanding the relationship between fiber angle and pressurization response of these soft fluidic actuators enables rapid exploration of the design space, opening the door to the iteration of exciting soft robot concepts such as flexible and compliant endoscopes, pipe inspection devices, and assembly line robots.