Manta Ray inspired multistable soft robot
Manta Ray inspired multistable soft robot
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DOI：
10.1109/robosoft55895.2023.10122038
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发表时间：
2023-04
期刊：
影响因子：
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通讯作者：
J. C. Osorio;Chelsea Tinsley;Kendal Tinsley;A. F. Arrieta
中科院分区：
文献类型：
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作者：
J. C. Osorio;Chelsea Tinsley;Kendal Tinsley;A. F. Arrieta
曼塔是一种独特的动物，由于其刚性的身体和灵活的鳍，它们表现出复杂的运动行为。在转弯过程中，这些动物可以在拍打时将鳍保持在不对称的位置，以实现更小的转弯半径和更快的转弯速度。使用传统的软机器人或致动器实现这种集体行为可能具有挑战性。局部双稳态可以被利用来模拟这种行为，通过在薄的鳍状表面中诱导空间分布的预应力，该鳍状表面在不需要连续致动的情况下重塑成3D稳定配置。我们提出了一种基于多个稳定状态的柔性机器人概念，该概念近似于射线的不对称笔划和笔划频率。鳍片由一组可充气的、亚稳的圆顶形单元驱动，使我们能够独立地偏转鳍片的各部分，以达到所需的位置。我们调整我们的机器人的几何形状，通过执行一个数值参数扫描不同的几何配置的图案化圆顶结构。我们的方法提供了一个新的路线施加各种目标的3D偏转位置的变形表面与最小的驱动或反馈控制，利用多稳定性。
Manta rays are unique animals that exhibit complex motion behavior, given their rigid bodies and flexible fins. During turning maneuvers, these animals can hold their fins in asymmetric positions while flapping to achieve a smaller turning radius and faster-turning speed. This collective behavior can be challenging to attain using conventional soft robots or actuators. Local bistability can be leveraged to mimic this behavior by inducing spatially distributed prestress in thin, fin-like surfaces that reshape into 3D, stable configurations without the need of continuous actuation. We present a pneumatically actuated manta ray-inspired soft robot concept with multiple stable states which approximate the ray's asymmetric strokes and stroke frequency. The fins are actuated by an array of inflatable bistable and metastable dome-shaped units that allow us to independently deflect sections of the fin to achieve a desired po-sition. We tune our robot's geometry by performing a numerical parameter sweep over different geometrical configurations of the patterned dome structure. Our approach offers a new route for imposing various target 3D deflected positions of morphing surfaces with minimal actuation or feedback control by utilizing multistability.