Flexible and Slim Device Switching Air Blowing and Suction by a Single Airflow Control
Flexible and Slim Device Switching Air Blowing and Suction by a Single Airflow Control
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DOI：
10.1109/lra.2023.3254465
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发表时间：
2023-03
影响因子：
5.2
通讯作者：
Seita Nojiri;Toshihiro Nishimura;K. Tadakuma;Tetsuyou Watanabe
中科院分区：
文献类型：
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作者：
Seita Nojiri;Toshihiro Nishimura;K. Tadakuma;Tetsuyou Watanabe
本研究提出了一种柔软的机器人设备，具有纤细而灵活的身体，可以通过单个气流控制在吹气和吸气之间切换。抽吸是通过射流夹带周围空气来实现的，而吹扫是通过阻挡和逆转射流来实现的。薄而灵活的翻板闸门可实现切换。当闸门关闭时，气流被阻挡，而当闸门打开时，气流通过。翻板闸门的打开和关闭由安装在闸门附近的充气室的膨胀控制。膨胀程度由上游静压决定。因此，可以通过输入气流速率来控制闸门。作为一个设计参数的瓣门的尺寸被引入，我们表明，该参数有助于吹吸能力。我们还通过实验证明，所提出的设备是可用于可变摩擦系统和端部执行器，用于拾取覆盖有灰尘的薄物体。
This study proposes a soft robotic device with a slim and flexible body that switches between air blowing and suction with a single airflow control. Suction is achieved by jet flow entraining surrounding air, and blowing is achieved by blocking and reversing jet flow. The thin and flexible flap gate enables the switching. Air flow is blocked while the gate is closed and passes through while the gate is open. The opening and closing of the flap gate are controlled by the expansion of the inflatable chambers installed near the gate. The extent of expansion is determined by the upstream static pressure. Therefore, the gate can be controlled by the input airflow rate. The dimensions of the flap gate are introduced as a design parameter, and we show that the parameter contributes to the blowing and suction capacities. We also experimentally demonstrate that the proposed device is available for a variable friction system and an end effector for picking up a thin object covered with dust.