A Resilient, Untethered Soft Robot
A Resilient, Untethered Soft Robot
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DOI：
10.1089/soro.2014.0008
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发表时间：
2014-09-01
期刊：
影响因子：
7.9
通讯作者：
Whitesides, George M.
中科院分区：
文献类型：
--
作者：
Tolley, Michael T.;Shepherd, Robert F.;Whitesides, George M.
本文描述了一种气动的、完全无束缚的移动软体机器人。由硅橡胶弹性体、聚芳酰胺织物和空心玻璃微球组成的复合材料被用于制造一个足够大的软体机器人，以承载自主运行所需的微型空气压缩机、电池、阀门和控制器。开发了制造技术来模制一个0.65米长的软体，其带有改进的气动网络（Pneu - Net）致动器，能够在驱动机器人腿部以及承载高达8千克有效载荷所需的高压（高达138千帕）下工作。该软体机器人在运行过程中与人接触是安全的，并且其硅橡胶主体对各种恶劣环境条件具有天然的弹性，包括雪、水坑、直接（尽管有限）暴露于火焰以及被汽车碾压的挤压力。
A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65-meter-long soft body with modified Pneu-Net actuators capable of operating at the elevated pressures (up to 138 kPa) required to actuate the legs of the robot and hold payloads of up to 8 kg. The soft robot is safe to interact with during operation, and its silicone body is innately resilient to a variety of adverse environmental conditions including snow, puddles of water, direct (albeit limited) exposure to flames, and the crushing force of being run over by an automobile.