Effects of Friction Anisotropy on Upward Burrowing Behavior of Soft Robots in Granular Materials
Effects of Friction Anisotropy on Upward Burrowing Behavior of Soft Robots in Granular Materials
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DOI：
10.1002/aisy.201900183
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发表时间：
2020-02
影响因子：
7.4
通讯作者：
Sichuan Huang;Yong Tang;H. Bagheri;D. Li;Alexandria Ardente;Daniel M. Aukes;H. Marvi;J. Tao
中科院分区：
文献类型：
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作者：
Sichuan Huang;Yong Tang;H. Bagheri;D. Li;Alexandria Ardente;Daniel M. Aukes;H. Marvi;J. Tao
具有不对称基利格米鳞片和软刺的皮肤集成到基础自挖机器人的表面，该机器人由一个软的单段扩展驱动器组成。挖掘机器人与不同颗粒材料界面处的摩擦各向异性。研究了其对拉拔阻力和掘进特性的影响。结果表明：摩擦和摩擦各向异性的发展受颗粒材料特性、非对称表皮以及非对称表皮与颗粒颗粒的相对尺寸的影响。鳞片或尖刺沿着向上方向排列的机器人比相反方向排列的机器人挖洞更快，特别是在相对粗糙的颗粒材料中。对执行器周围粒子位移场的粒子图像测速分析揭示了干燥颗粒材料与软机器人相互作用的复杂性，这意味着对齐的尺度或尖峰可以优先影响摩擦分布，为未来软挖洞机器人设计和优化中基于材料和几何的摩擦操作开辟了许多可能性，以实现更多功能的运动能力。
Skins with asymmetric kirigami scales and soft spikes are integrated to the surface of a base self‐burrowing robot, which consists of a soft one‐segment extending actuator. Friction anisotropy is observed at the interfaces between the burrowing robots and different granular materials. Its effects on the pulling resistance and burrowing characteristics are studied. The results demonstrate that the development of friction and friction anisotropy is affected by the characteristics of the granular material, the asymmetric skins, and the relative size of the asymmetric features to the granular particles. Robots with scales or spikes aligned along the upward direction burrow faster than those aligned against the upward direction, especially in relatively coarser granular materials. Particle image velocimetry analysis on the particle displacement fields around the actuator reveals the complexity of dry granular material interactions with soft robots, implying that aligned scales or spikes can impact the distribution of friction preferentially, opening up many possibilities for thoughtful material and geometry‐based manipulation of friction in the design and optimization of future soft burrowing robots for more versatile locomotion capabilities.