Suitable configurations for pneumatic soft sheet actuator to generate traveling waves
Suitable configurations for pneumatic soft sheet actuator to generate traveling waves
复制标题
气动软片致动器产生行波的合适配置
DOI：
10.1080/01691864.2017.1392347
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发表时间：
2017
影响因子：
2
通讯作者：
Hideyuki Tsukagoshi
中科院分区：
文献类型：
--
作者：
Masahiro Watanabe;Hideyuki Tsukagoshi
本文提出了一种适合的气动软片驱动器的配置能够通过行波移动。受蜗牛和蛞蝓的运动的启发，使用踏板脚产生行波，我们挑战开发一个气动片状驱动器命名为Wavy-sheet，旨在使其即使在脆弱的环境中移动，轮式机器人很难跨越。为了设计合适的配置来实现上述目的，首先，我们从数学的角度推导出可实现的波形模式的组合，并检查波的特性。其次，从速度和有效载荷两个方面选择了几种理想的构型，并制作了样机。最后，为了验证我们的考虑的有效性，进行了实验，并确定了最合适的配置所提出的致动器。
This paper presents suitable configurations for a pneumatic soft sheet actuator capable of moving by traveling waves. Inspired by the locomotion of snails and slugs using pedal foot generating traveling waves, we challenge to develop a pneumatic sheet type actuator named Wavy-sheet, aiming to make it move even on a fragile environment which the wheel-type robots are hard to cross over. To design the suitable configuration to fulfill the above purpose, first, we derive combinations of realizable waveform patterns from a mathematical point of view and examine the characteristics of the waves. Next, after a couple of desired configurations are selected from the aspects of velocity and payload, their prototypes are fabricated. Finally, to verify the validity of our consideration, the experiments are conducted, and the most suitable configuration for the proposed actuator is determined.