Harnessing Nonuniform Pressure Distributions in Soft Robotic Actuators
Harnessing Nonuniform Pressure Distributions in Soft Robotic Actuators
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DOI：
10.1002/aisy.202200330
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发表时间：
2023-01-20
影响因子：
7.4
通讯作者：
Petersen, Kirstin H.
中科院分区：
文献类型：
--
作者：
Matia, Yoav;Kaiser, Gregory H.;Petersen, Kirstin H.
本文演示了由弹性体膀胱组成的软流体驱动驱动器的复杂运动，这些弹性体膀胱围绕中性平面排列，并通过细长的管道连接。该运动不依赖于复杂的反馈控制或多个输入，而是由单一压力输入产生，利用执行器内的粘性流动在膀胱之间产生非均匀压力。使用精确的预测模型与大变形coserat杆模型和低雷诺数流相结合，所有主要的动态相互作用，包括扩展和曲率，都可以用两个控制方程来捕获。根据该模型的见解，本文描述了五个设计元素，并在实践中进行了演示。通过选择固体、流体和输入压力循环之间的相对时间尺度，执行器的尖端可以获得几乎任何所需的轨迹，并且可以暂时放置在其二维工作空间内的任何位置。最后，粘性驱动的软致动器的好处在一个六足无系绳机器人中得到了展示，该机器人能够每秒行走0.05个身长。为新型形态智能软机器人执行器奠定了基础，该执行器可以在没有明确驱动的情况下实现复杂变形和多功能；由此产生非均匀压力分布，可以利用它们的无限自由度。
Herein, complex motion in soft, fluid-driven actuators composed of elastomer bladders arranged around a neutral plane and connected by slender tubes is demonstrated. Rather than relying on complex feedback control or multiple inputs, the motion is generated with a single pressure input, leveraging viscous flows within the actuator to produce nonuniform pressure between bladders. Using an accurate predictive model coupling with a large deformation Cosserat rod model and low-Reynolds-number flow, all dominating dynamic interactions including extension and curvature are captured with two governing equations. Given insights from this model, five design elements are described and demonstrated in practice. By choosing the relative timescales between the solid, fluid, and input pressure cycles, the tip of the actuator can obtain almost any desired trajectory and can be placed anywhere temporarily within its 2D workspace. Finally, the benefits of viscous-driven soft actuators are showcased in a six-legged untethered robot able to walk 0.05 body lengths per second. The foundation is laid for a new class of morphologically intelligent, soft robotic actuators that enables complex deformations and multifunctionality without explicit drivers; whereby generating nonuniform pressure distributions, their infinite degrees of freedom can be exploited.