Design and Manufacturing of Tendon-Driven Soft Foam Robots
Design and Manufacturing of Tendon-Driven Soft Foam Robots
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DOI：
10.1017/s0263574719000481
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发表时间：
2019-05
期刊：
影响因子：
2.7
通讯作者：
Nikolas Kastor;R. Mukherjee;Eliad Cohen;V. Vikas;B. Trimmer;R. White
中科院分区：
文献类型：
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作者：
Nikolas Kastor;R. Mukherjee;Eliad Cohen;V. Vikas;B. Trimmer;R. White
摘要描述了一种用于创建电机肌腱驱动的软泡沫机器人的设计和制造方法。该方法使用可浇铸、轻质且易于压缩的开孔聚氨酯泡沫，产生能够大变形（约70%应变）的结构，同时需要低扭矩来操作（<0.2 N·m）。软机器人可以通过压缩和折叠来改变形状，仅用两个致动器就可以进行复杂的运动。可重复的运动包括以13 mm/s（每秒4.3%的体长）的速度向前移动，以9 mm/s的速度转身，以及端对端翻转。硬部件，如电机，在成型后松散地缝合到腔体中。这减少了软体的不希望的硬化。这项工作是第一次演示的软开孔泡沫机器人与电机肌腱驱动器的运动。该制造方法快速（每个模具约30分钟），廉价（结构泡沫每个机器人不到3美元），灵活，并将允许生产各种软泡沫机器人设备。
Summary A design and manufacturing method is described for creating a motor tendon–actuated soft foam robot. The method uses a castable, light, and easily compressible open-cell polyurethane foam, producing a structure capable of large (~70% strain) deformations while requiring low torques to operate (<0.2 N·m). The soft robot can change shape, by compressing and folding, allowing for complex locomotion with only two actuators. Achievable motions include forward locomotion at 13 mm/s (4.3% of body length per second), turning at 9◦/s, and end-over-end flipping. Hard components, such as motors, are loosely sutured into cavities after molding. This reduces unwanted stiffening of the soft body. This work is the first demonstration of a soft open-cell foam robot locomoting with motor tendon actuators. The manufacturing method is rapid (~30 min per mold), inexpensive (under $3 per robot for the structural foam), and flexible, and will allow a variety of soft foam robotic devices to be produced.