Soft Robotics in Radiation Environments : A Prospective Study of an Emerging Automated Technology for Existing Nuclear Applications
Soft Robotics in Radiation Environments : A Prospective Study of an Emerging Automated Technology for Existing Nuclear Applications
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辐射环境中的软机器人:现有核应用新兴自动化技术的前瞻性研究
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发表时间：
2018
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通讯作者：
Tyler Oshiro
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作者：
Tyler Oshiro
批准：Camille Palmer 传统机器人在核相关工作方面有着悠久的历史，因为它们的集成降低了人类在危险环境中的风险。软机器人技术是传统机器人技术的一个有前途的新分支，在工业、医学和社会中都有广泛的应用。俄勒冈州立大学 (OSU) 机器人 mLab 的合作者目前正在研究由 3D 打印有机硅弹性体制成的软机器人操纵器的概念验证。因此，现在是分析这种新型软机器人和类似模型对核环境做出贡献的潜力的最佳时机。这种前瞻性分析确定了软机器人系统的组件和机器人任务的代表性辐射环境，然后测量这些组件在环境中的功能能力。将聚二甲基硅氧烷 (PDMS) 样品暴露在伽马射线下，然后研究机械性能的变化，包括伸长率、拉伸强度和压缩强度。这些测试的结果显示，除了最高暴露环境外，所有环境中伽马引起的变化均小于 25%。此外，PDMS 暴露于 OSU TRIGA 研究反应堆 (OSTR) 周围的混合辐射通量 7 小时，导致一些意想不到的杂质被激活，包括镧系元素。还通过测量 0.1 Gy/hr 伽马射线照射期间的电阻来测试考虑用于软机器人的液态金属传感器；没有明显的变化。使用过去的文献对包括驱动机构、相机和信号通信在内的电子元件进行了评估。对这些单独结果的综合评估得出结论，软机器人在辐射环境中具有功能潜力，因此值得进一步研究和工程设计。 c ©泰勒·大城版权所有 2018 年 6 月 14 日保留所有权利辐射环境中的软机器人：对现有核应用的新兴自动化技术的前瞻性研究
approved: Camille Palmer Traditional robots have a long history in nuclear-related work because their integration decreases risk to humans in dangerous environments. Soft robotics is one promising new branch of traditional robotics with proposed applications in industry, medicine, and society. Collaborators from the Robotics mLab at Oregon State University (OSU) are currently working on a proof of concept soft robotic manipulator built from 3-D printed silicone elastomer. It is therefore an opportune time to analyze the potential of this new soft robot and similar models to contribute to nuclear environments. This prospective analysis identifies the components of the soft robotic system and representative radiation environments for robotic tasks, then measures the functional capability of these components in the environments. Samples of polydimethysiloxane (PDMS) were exposed to gamma irradiation then studied for changes to mechanical properties, including elongation, tensile strength, and compression. Results from these tests showed less than a 25% gamma-induced change in all but the highest exposure environment. In addition, a 7-hour exposure of PDMS to the mixed radiation flux surrounding OSU’s TRIGA research reactor (OSTR) resulted in activation of some unexpected impurities, including members of the lanthanide series. Liquid metal sensors being considered for use in soft robotics were also tested by measuring resistance during gamma exposure at 0.1 Gy/hr; no changes were noticeable. Electronic components including drive mechanisms, cameras, and signal communications were assessed using past literature. A comprehensive assessment of these individual results concludes that soft robotics have functional potential in radiation environments and therefore warrant further study and engineering. c ©Copyright by Tyler Oshiro June 14, 2018 All Rights Reserved Soft Robotics in Radiation Environments: A Prospective Study of an Emerging Automated Technology for Existing Nuclear Applications