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EFRI C3 SoRo: Control of Local Curvature and Buckling for Multifunctional Textile-Based Robots

EFRI C3 SoRo：多功能纺织机器人的局部曲率和屈曲控制

基本信息

批准号：
1935324
负责人：
Nicholas Gravish
金额：
$ 200万
依托单位：
University of California-San Diego
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2019
资助国家：
美国
起止时间：
2019-10-01 至 2024-09-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1935324&HistoricalAwards=false
关键词：
EFRI C3 SoRo Control Local

项目摘要

This project envisions a new class of soft robotics technology that will enable new multifunctional soft robots with reconfigurable actuation and shapes. The key to the proposed technology is the ability to change the mechanical properties of a thin-walled structure by changing its local curvature. For example, curving a flat sheet of paper along one direction greatly increases its stiffness in the other two directions. Exploiting the coupling between curvature and mechanical behavior in planar materials will enable the design, modeling, and control of reconfigurable soft robots. This can be used to realize robot arms with joints that can be created and configured at will to match desired task dynamics and constraint geometries. Soft robotics technology has the potential to transform the way our society utilizes and interacts with robots, because soft robots are inherently safe for interaction with humans. This project promotes the progress of science by advancing understanding of how to utilize materials and geometry to create active, assistive, robotic devices. Furthermore, the topics of this proposal are uniquely suited to outreach activities for K-12 students. Parallel outreach activities will be run across the collaborating sites to maximally inform the public and the nation?s youth about this new type of soft robot.This project will develop modeling, control, and design methods for a new class of robots formed from soft planar materials and called Soft Curved Reconfigurable Anisotropic Mechanisms (SCRAMs). These robots will be manufactured through planar fabrication methods (sewing, lamination, and 3D printing) and local, embedded actuators and sensors to realize soft, curved, reconfigurable, anisotropic mechanisms for reconfigurable joints with controllable curvature. The collaborative research plan features the following tasks: 1) identify geometric and manufacturing representations that can unify element design & will enable modeling, system simulation, and control, 2) establish and study canonical soft continuum elements, sensors, and actuators using experimental techniques and finite element modeling to understand SCRAM mechanics and dynamics towards a library of modular elements for building soft continuum systems. The project will 3) formulate new modeling, simulation, and geometric control methods for optimal control of SCRAM robots in multi-modal environments, 4) which will be validated on two SCRAM platforms to study issues in manipulation and locomotion as well as to demonstrate the potential of SCRAM-based soft-robots.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目设想了一种新的软机器人技术，它将使新的多功能软机器人具有可重构的驱动和形状。该技术的关键是通过改变薄壁结构的局部曲率来改变其机械性能的能力。例如，将一张纸沿一个方向弯曲，会大大增加其在另外两个方向的刚度。利用平面材料中曲率和力学行为之间的耦合将使可重构软机器人的设计、建模和控制成为可能。这可以用来实现具有关节的机器人手臂，这些关节可以随意创建和配置，以匹配所需的任务动力学和约束几何形状。软机器人技术有可能改变我们社会利用机器人和与机器人互动的方式，因为软机器人在与人类互动时本质上是安全的。该项目通过提高对如何利用材料和几何来创造主动、辅助、机器人设备的理解，促进了科学的进步。此外，该提案的主题特别适合K-12学生的外展活动。平行的外展活动将在合作地点进行，以最大限度地告知公众和国家。我的年轻人对这种新型软体机器人很感兴趣。该项目将开发一种新型机器人的建模、控制和设计方法，这种机器人由柔性平面材料制成，被称为柔性曲面可重构各向异性机构（SCRAMs）。这些机器人将通过平面制造方法（缝纫、层压和3D打印）和局部嵌入式执行器和传感器来制造，以实现柔性、弯曲、可重构、各向异性的机构，用于曲率可控的可重构关节。该合作研究计划包括以下任务：1)确定可以统一元件设计的几何和制造表示；将使建模、系统仿真和控制成为可能；2)使用实验技术和有限元建模建立和研究规范的软连续体元件、传感器和执行器，以了解SCRAM力学和动力学，从而建立一个用于构建软连续体系统的模块化元件库。该项目将3)制定新的建模、仿真和几何控制方法，以在多模态环境中对SCRAM机器人进行最优控制，4)将在两个SCRAM平台上进行验证，以研究操作和运动问题，并展示基于SCRAM的软机器人的潜力。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。