Magnetic Assembly of Soft Robots with Hard Components
Magnetic Assembly of Soft Robots with Hard Components
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DOI：
10.1002/adfm.201303047
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发表时间：
2014-04-01
影响因子：
19
通讯作者：
Whitesides, George M.
中科院分区：
文献类型：
--
作者：
Kwok, Sen W.;Morin, Stephen A.;Whitesides, George M.
本文介绍了模块化磁组装的可重构，磁驱动机器人组成的软，硬组件和材料。这些混合机器人的软部件是使用软光刻技术由硅橡胶制成的致动器，硬部件是使用3D打印制成的丙烯腈-丁二烯-苯乙烯（ABS）结构。钕铁硼（NdFeB）环形磁铁嵌入这些组件中，以建立和保持组件之间的连接。这些磁性连接的可逆性允许使用不同材料（软和硬）制成的组件快速重新配置这些机器人，这些组件也具有不同的尺寸，结构和功能;此外，它还加速了新设计的测试，新功能的探索以及损坏部件的修复或更换。这种组装软致动器以构建软机器的方法解决了与使用软光刻直接模制复杂3D气动网络相关的一些限制。结合气动控制的自对准性能的磁铁，使得它可以为一个遥操作者修改这些机器人的结构和能力，很容易响应不同任务的要求。
This paper describes the modular magnetic assembly of reconfigurable, pneumatically actuated robots composed of soft and hard components and materials. The soft components of these hybrid robots are actuators fabricated from silicone elastomers using soft lithography, and the hard components are acrylonitrile-butadiene-styrene (ABS) structures made using 3D printing. Neodymium-iron-boron (NdFeB) ring magnets are embedded in these components to make and maintain the connections between components. The reversibility of these magnetic connections allows the rapid reconfiguration of these robots using components made of different materials (soft and hard) that also have different sizes, structures, and functions; in addition, it accelerates the testing of new designs, the exploration of new capabilities, and the repair or replacement of damaged parts. This method of assembling soft actuators to build soft machines addresses some limitations associated with using soft lithography for the direct molding of complex 3D pneumatic networks. Combining the self-aligning property of magnets with pneumatic control makes it possible for a teleoperator to modify the structures and capabilities of these robots readily in response to the requirements of different tasks.