Smart material composites for discrete stiffness materials
Smart material composites for discrete stiffness materials
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DOI：
10.1088/1361-665x/ab1ec9
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发表时间：
2018-09
影响因子：
4.1
通讯作者：
Emily A. Allen;L. Taylor;J. Swensen
中科院分区：
文献类型：
--
作者：
Emily A. Allen;L. Taylor;J. Swensen
本文提出了一种新的软机器人材料，智能材料的局部化，几何图案可以通过智能材料的组合表现出离散的刚度水平的第一步。这项工作的灵感来自于各种生物系统，其中驱动是通过调节与肌肉收缩结合的局部刚度来完成的。鉴于大多数生物系统使用流体静力学机制来实现刚度可变性，并且许多机器人系统已经模仿了这种机制，这项工作旨在使用智能材料来实现这种刚度可变性。在这里，低熔点场的金属，形状记忆合金镍钛诺，和低熔点的热塑性聚己内酯（PCL），复合在简单的梁结构封装在硅橡胶的复合。构造了一个简单的两关节柔性机器人手指，以展示智能复合材料的灵巧能力。在不同温度下的弯曲刚度的比较，其位于复合智能材料的活化温度之间，证明了在软机器人组织内实现离散水平的刚度的能力。
This paper presents an initial step towards a new class of soft robotics materials, where localized, geometric patterning of smart materials can exhibit discrete levels of stiffness through combinations of smart materials. This work is inspired by a variety of biological systems where actuation is accomplished by modulating the local stiffness in conjunction with muscle contractions. Whereas most biological systems use hydrostatic mechanisms to achieve stiffness variability, and many robotic systems have mimicked this mechanism, this work aims to use smart materials to achieve this stiffness variability. Here the compositing of the low melting point Field’s metal, shape memory alloy Nitinol, and a low melting point thermoplastic Polycaprolactone (PCL), composited in simple beam structure encased in silicone rubber is presented. A simple two-joint soft robotic finger is constructed to demonstrate the dexterous capabilities of smart composite materials. The comparison in bending stiffnesses at different temperatures, which reside between the activation temperatures of the composited smart materials demonstrates the ability to achieve discrete levels of stiffnesses within the soft robotic tissue.