Soft Hybrid Wave Spring Actuators
Soft Hybrid Wave Spring Actuators
复制标题
DOI：
10.1002/aisy.201900097
复制
发表时间：
2020-01-01
影响因子：
7.4
通讯作者：
Onal, Cagdas D.
中科院分区：
文献类型：
--
作者：
Skorina, Erik H.;Onal, Cagdas D.
受鱿鱼触手和大象鼻子启发的软连续统机械手，在允许机器人安全地与复杂环境交互方面展示了希望。对于这些机械手来说，一个持续存在的问题是扭转刚度，因为连续体机械手自然是柔顺的，不能主动抵抗扭转应变。一种混合执行器，它结合了模压硅胶执行器和3D打印柔性波动弹簧，可以克服这一问题。结果表明，3D打印波形弹簧的加入使执行器的扭转刚度提高了10倍。对这些结构进行了进一步的实验和模拟研究。最后，利用这种混合执行器设计了一种九自由度柔性连续体机械手，用于完成类似尺寸的传统软机械手无法完成的悬臂拾取和放置任务。
Soft continuum manipulators, inspired by squid tentacles and elephant trunks, show promise in allowing robots to safely interact with complex environments. One ongoing problem for these manipulators is torsional stiffness, as continuum manipulators are naturally compliant and cannot actively resist torsional strain. A hybrid actuator that combines molded silicone actuators with 3D printed flexible wave springs is used to overcome this problem. It is shown that the inclusion of the 3D printed wave spring increases actuator torsional stiffness by up to a factor of 10. Further investigation of these structures is performed using both experimentation and simulation. Finally, this hybrid actuator design is used to create a nine-degree-of-freedom soft continuum manipulator, which is used to perform a cantilevered pick-and-place task impossible for a traditional soft manipulator of similar size.