Snake-Inspired Kirigami Skin for Lateral Undulation of a Soft Snake Robot
Snake-Inspired Kirigami Skin for Lateral Undulation of a Soft Snake Robot
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DOI：
10.1109/lra.2020.2969949
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发表时间：
2020-04-01
影响因子：
5.2
通讯作者：
Menguc, Yigit
中科院分区：
文献类型：
--
作者：
Branyan, Callie;Hatton, Ross L.;Menguc, Yigit
蛇类皮肤鳞片的方向性所产生的摩擦各向异性，是蛇类在平坦坚硬的表面上前进所必需的。这项工作说明了基于kirigami技术的蛇启发皮肤的设计，制造和测试，当连接到软蛇机器人时，提高了机器人的运动能力，当实现横向波动步态。对自然界中蛇鳞片的研究揭示了合成鳞片的形状和纹理，这些鳞片通过kirigami晶格的屈曲而被激活。生物蛇在它们的鳞片上有微突起，这是通过在塑料皮肤上刻出脊来复制的。这种微弯曲有助于侧向波动所需的侧向阻力。皮肤的摩擦特性是通过实验确定的，它们对机器人在平坦、坚硬、有纹理的表面上运动的贡献也是如此。从规模的轮廓几何形状，规模microcurrenction，和规模的攻角的运动的贡献进行了鉴定。纵向COF比的范围为1.0至3.0，横向COF比的范围为0.9至3.3。性能最高的皮肤是具有微弯曲的三角形尺度轮廓，产生6 mm/s（0.03 BL/s）的速度，当激活到最大可实现曲率时，这比没有皮肤的机器人增加了335%。
Frictional anisotropy, as produced by the directionality of scales in snake skin, is necessary to propel snakes across flat, hard surfaces. This work illustrates the design, fabrication, and testing of a snake-inspired skin based on kirigami techniques that, when attached to a soft snake robot, improves the robot's locomotion capabilities when implementing a lateral undulation gait. Examination of snake scales in nature informed the shape and texture of the synthetic scales, which are activated through the buckling of kirigami lattices. Biological snakes have microornamentation on their scales, which is replicated by scoring ridges into the plastic skin. This microornamentation contributes to the lateral resistance necessary for lateral undulation. The skin's frictional properties were experimentally determined, as were their contributions to the locomotion of the robot across a flat, hard, textured surface. Contributions to locomotion from scale profile geometry, scale microornamentation, and scale angle of attack were identified. The range of longitudinal COF ratios was 1.0 to 3.0 and the range of lateral COF ratios was 0.9 to 3.3. The highest performing skin was the triangular scale profile with microornamentation, producing a velocity of 6 mm/s (0.03 BL/s) which is an increase of 335% over the robot with no skin when activated to maximum achievable curvature.