Bioinspired design and fabrication principles of reliable fluidic soft actuation modules
Bioinspired design and fabrication principles of reliable fluidic soft actuation modules
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可靠的流体软驱动模块的仿生设计和制造原理
DOI：
10.1109/robio.2015.7419095
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
C. Onal
中科院分区：
文献类型：
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作者：
Weijia Tao;E. Skorina;Fuchen Chen;J. McInnis;Ming Luo;C. Onal
机器人领域的很大一部分都致力于追赶大自然已经可以做的事情。从蛇和跳蜘蛛的灵感，我们描述了模块化多材料复合软气动执行器的标准化设计和制造的进展。以前用于我们的软机器蛇的气动双向弯曲致动器遭受了可重复性的挑战，并且容易在接缝处爆裂。在这里，我们提出了一个标准化的制造方法的软气动执行器，以减少接缝，并纳入一个更可靠的端口的输入压力。此外，我们探索我们的灵活的曲率传感器的集成，允许更少的侵入性本体感受传感的致动器状态。最后，从跳跃蜘蛛腿中获得灵感，我们提出了一种塑料外骨骼系统，它可以在加压时引导软致动器形成复杂的形状。我们表明，所有这些执行器在多次试验中都是一致且可靠的。下一步是将这些单独的执行器联合收割机组合成它们各自的仿生机器人系统：一条柔软的模块化蛇和一只柔软的跳跃蜘蛛。
A large percentage of the field of robotics is devoted to catching up to what nature can already do. Taking inspiration from the snake and the jumping spider, we describe advances towards standardized design and fabrication of modular multi-material composite soft pneumatic actuators. Previous pneumatic bi-directional bending actuators used in our soft robotic snake suffered from repeatability challenges and were prone to bursting in the seams. Here, we present a standardized fabrication method of soft pneumatic actuators to reduce the seams and incorporate a more reliable port for the input pressure. In addition, we explore the integration of our flexible curvature sensor, allowing for less invasive proprioceptive sensing of the actuator state. Finally, taking inspiration from jumping spider legs, we propose a plastic exoskeleton system, which can guide soft actuators to form complex shapes when pressurized. We show that all of these actuators were consistent and reliable over numerous trials. The next step is to combine these individual actuators into their respective bioinspired robotic systems: a soft modular snake and a soft jumping spider.