An Inhomogeneous Structured Eversion Actuator
An Inhomogeneous Structured Eversion Actuator
复制标题
一种非均匀结构外翻执行器
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
K. Althoefer
中科院分区：
文献类型：
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作者：
T. Abrar;Ahmed Hassan;F. Putzu;Hareesh Godaba;A. Ataka;K. Althoefer
软执行机构不受任何刚性、笨重,艰难的组件。这对实现机器人的柔性驱动和安全交互是非常有益的。受外延原理的启发，我们开发了一种新颖的非均匀截面软作动器，可以线性扩展并实现大载荷能力。所提出的软致动器是由气密织物制成的空心套筒，其顶部为圆柱形，底部为锥形。与传统的从尖端单方面延伸的版本机器人不同，在该驱动器中，顶部圆柱形部分和底部圆锥形部分部分向内折叠，以便两个尖端连接在一起。当施加气压压力时，圆柱形部分的长度增加，而锥形部分的长度向内折叠减少。执行器达到120%的线性应变，在62 kPa的低压下可产生84 N的力。我们建立了一个理论模型来描述执行器从锥形到圆柱形的变形过程中的力和应变特性。研究结果表明，朝着大应变、高力致动器的方向迈出了一步，使机器人安全、顺从。
Soft actuators are free from any rigid, bulky, and hard components. This is greatly beneficial towards achieving compliant actuation and safe interactions in robots. Inspired by the eversion principle, we develop a novel soft actuator of the inhomogeneous cross-section that can linearly extend and achieve a large payload capability. The proposed soft actuator is a hollow sleeve, made from an airtight fabric, and features a top part of cylindrical shape and a bottom part of a conical shape. Unlike conventional eversion robots that extend unilaterally from the tip, in this proposed actuator the top cylindrical part and the bottom conical part are partially folded inwards so that the two tips are attached together. When pneumatic pressure is applied, the cylindrical part everts increasing in length while the conical section reduces in length folding inwards. The actuator achieves linear strains of 120% and can generate a force 84 N at a low pressure of 62 kPa. We develop a theoretical model to describe the force and strain characteristics of the actuator during eversion from conical shape to cylindrical shape. The results showcase a step towards large strain, high force actuators for safe and compliant robots.
影响因子：
25
作者：
Hawkes, Elliot W.;Blumenschein, Laura H.;Okamura, Allison M.
通讯作者：
Okamura, Allison M.
影响因子：
5.7
作者：
Coad, Margaret M.;Blumenschein, Laura H.;Okamura, Allison M.
通讯作者：
Okamura, Allison M.