3D Printed Sensorized Soft Robotic Manipulator Design
3D Printed Sensorized Soft Robotic Manipulator Design
复制标题
3D 打印传感软机器人操纵器设计
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
F. Iida
中科院分区：
文献类型：
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作者：
Josie Hughes;F. Iida
拟人软机器人系统复制人类关节的刚度和范围可能具有挑战性的开发和制造。通过使用3D打印，可以创建具有由物理参数确定的机械阻抗和关节范围的柔性关节;这允许在单个3D打印中由刚性材料生产柔性操纵器。使用快速成型方法开发的手指的灵巧性已被证明通过使用软操纵器的方法来处理筷子抓持物体。
Anthropomorphic soft robotics systems which replicate the stiffness and range of human joints can be challenging to develop and fabricate. By using 3D printing it is possible to create flexible joints which can have the mechanical impedance and joint range determined by the physical parameters; this allows compliant manipulators to be produced from rigid materials in a single 3D print. The dexterity of the fingers developed using rapid prototyping methods has been demonstrated by using the approach with soft manipulators to handle chopsticks to grip objects.