Towards Autonomous Robotic Systems - 22nd Annual Conference, TAROS 2021, Lincoln, UK, September 8-10, 2021, Proceedings
Towards Autonomous Robotic Systems - 22nd Annual Conference, TAROS 2021, Lincoln, UK, September 8-10, 2021, Proceedings
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走向自主机器人系统 - 第 22 届年会，TAROS 2021，英国林肯，2021 年 9 月 8-10 日，会议记录
DOI：
10.1007/978-3-030-89177-0_25
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Shorthose O
中科院分区：
文献类型：
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作者：
Shorthose O
提出了一种采用对称平行腔体实现双向可变刚度的多材料3D打印软执行器。许多最近的软体机器人解决方案涉及多阶段制造，仅在一个方向上提供可变刚度或缺乏可靠控制执行器刚度的手段。多材料3D打印的使用意味着复杂的单片设计可以在不需要进一步制造步骤的情况下生产。我们证明，这允许执行器之间的高度可重复性和将不同的控制行为引入单个体的能力。通过独立改变两个平行腔室的压力，提出了互补和对抗两种控制模式。我们证明了执行器能够调整其力输出。在安全、低压范围（kPa）的可控刚度下，差动控制显著增加了力输出。在角度范围、打印模型之间的重复性、迟滞、绝对最大力和梁刚度方面给出了实验特性。该设计的最大弯曲角为102.6，最大输出力为2.17N，最大梁刚度为0.96mN m。
A multi-material 3D printed soft actuator is presented that uses symmetrical, parallel chambers to achieve bi-directional variable stiffness. Many recent soft robotic solutions involve multi-stage fabrication, provide variable stiffness in only one direction or lack a means of reliably controlling the actuator stiffness. The use of multi-material 3D printing means complex monolithic designs can be produced without the need for further fabrication steps. We demonstrate that this allows for a high degree of repeatability between actuators and the ability to introduce different control behaviours into a single body. By independently varying the pressure in two parallel chambers, two control modes are proposed: complementary and antagonistic. We show that the actuator is able to tune its force output. The differential control significantly increases force output with controllable stiffness enabled within a safe, low-pressure range (kPa). Experimental characterisations in angular range, repeatability between printed models, hysteresis, absolute maximum force, and beam stiffness are presented. The proposed design demonstrated a maximum bending angle of 102.6, maximum output force 2.17N, and maximum beam stiffness 0.96mN m.