Design of mesoscale active cells for networked, compliant robotic structures
Design of mesoscale active cells for networked, compliant robotic structures
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DOI：
10.1109/iros.2015.7353833
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发表时间：
2015-12
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通讯作者：
Ahsan I. Nawroj;J. Swensen;A. Dollar
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作者：
Ahsan I. Nawroj;J. Swensen;A. Dollar
我们提出了一种简单的厘米级模块驱动单元(“主动单元”)和被动顺应性节点的设计，这些节点通过机电联网来创建宏观可变形的模块化主动单元结构(宏)。每个Active Cell是一个单自由度线性致动器(“肌肉单元”)，由连接两股镍钛形状记忆合金的玻璃纤维端件和一个被动偏置弹簧组成。当通过电阻加热激活时，镍钛线束被卷曲成一个紧密的弹簧以增加变形。深入研究了镍钛合金线圈与对抗性弹簧的优化，产生了高达25%的大的可重复轴向细胞应变。提出了这些细胞肌肉单元的设计，以获得最大的可重复行程，允许构建更大的细胞网络(宏模块，类似于生物“组织”)，可以根据目标应用定制。最后，对几个简单的宏模块的结构和驱动进行了实验演示。
We present the design of simple, centimeter-scale modular actuation units (“Active Cells”) and passive compliant nodes that are electromechanically networked to create macroscopically deformable Modular Active Cell-based Structures (MACROs). Each Active Cell is a single degree-of-freedom linear actuator (a “muscle unit”), consisting of fiberglass end-pieces connecting two strands of Nitinol shape-memory alloy and a passive biasing spring. The Nitinol strands are coiled into a tight spring to increase deformations when activated through resistive heating. In-depth examination of the optimization of Nitinol coils with an antagonistic spring is presented, resulting in large repeatable axial cell strains of up to 25%. The design of these cellular muscle units to obtain maximal repeatable stroke is presented, allowing for the construction of larger networks of cells (MACRO modules, akin to a biological “tissue”) that can be customized to a target application. Finally, experimental demonstration of the construction and actuation of some simple MACRO modules is described.