权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

Modeling and Development of a Climbing Soft Robot

攀爬软体机器人的建模与开发

基本信息

批准号：
258667817
负责人：
Professorin Dr.-Ing. Kristin de Payrebrune
金额：
--
依托单位：
Department of Mechanical Engineering
依托单位国家：
德国
项目类别：
Research Fellowships
财政年份：
2014
资助国家：
德国
起止时间：
2013-12-31 至 2015-12-31
项目状态：
已结题

来源：
https://gepris.dfg.de/gepris/projekt/258667817?language=en
关键词：
Modeling Development Climbing Soft Robot

项目摘要

The goal of this research project is to describe soft robots by efficient mathematical methods and to show their potential application by a climbing prototype. Soft robots are a new kind of robots without a skeletal structure. They are manufactured from soft and highly deformable materials. Due to the use of soft materials complex and variable locomotion as well as special attributes are realizable which are essential for application in search or rescue situations, healthcare or cooperative human assistance. For design and description of such soft continua new robot models are needed. In this research project special theories of continuum mechanics and simple material models will be developed and adapted to manufactured prototypes of soft robots. The main focus lies on an efficient description of the deformation and locomotion of the robots as well as of the contact phenomena and control of the actuation. Based on the enhanced methods for soft continua a model will be developed to describe the characteristics of soft robots. Beside theoretical work two prototypes of a climbing soft robot will be manufactured. For the first one metal inlays will be implemented at the limbs of the robot and will be activated via an electric field. So climbing on metallic surfaces is possible. For the second prototype adhesive pads will be added on the limbs so it can climb on any kinds of rough or smooth walls. A special challenge is to synchronize the deformation of the limbs and the activation of the metallic inlays and adhesive pads. The work on sufficient mathematical descriptions of soft continua within this research project makes a contribution to the development of soft robots and possible applications will be shown with the prototypes.

本研究项目的目标是用有效的数学方法描述软机器人，并通过攀爬原型展示其潜在的应用。软机器人是一种无骨架结构的新型机器人。它们是由柔软和高度变形的材料制成的。由于软材料的使用，复杂和可变的运动以及特殊属性是可以实现的，这对于在搜索或救援情况、医疗保健或协作人类援助中的应用是必不可少的。为了设计和描述这种软连续体，需要新的机器人模型。在这项研究项目中，将发展特殊的连续介质力学理论和简单的材料模型，并将其应用于软机器人的制造原型。主要的焦点在于有效地描述机器人的变形和运动，以及接触现象和驱动控制。基于软连续体的改进方法，建立了描述软机器人特性的模型。除了理论工作外，还将制造两个攀爬软机器人的原型。对于第一个机器人，金属镶嵌将安装在机器人的四肢上，并将通过电场激活。因此，在金属表面上攀登是可能的。对于第二个原型，将在四肢上添加粘合垫，这样它就可以在任何粗糙或光滑的墙壁上攀登。一个特殊的挑战是使四肢的变形与金属嵌体和粘合垫的激活同步。在本研究项目中，对软连续体的充分数学描述的工作对软机器人的发展做出了贡献，并将通过原型展示可能的应用。