Design of a biomimetic robotic octopus arm
Design of a biomimetic robotic octopus arm
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DOI：
10.1088/1748-3182/4/1/015006
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发表时间：
2009-03-01
影响因子：
3.4
通讯作者：
Dario, P.
中科院分区：
文献类型：
--
作者：
Laschi, C.;Mazzolai, B.;Dario, P.
本文报告了受章鱼臂启发的机械臂的基本原理和设计。章鱼臂显示出奇特的特征，例如能够向各个方向弯曲、产生快速伸长以及改变其刚度。章鱼之所以能获得这些独特的运动技能，得益于其独特的肌肉结构，称为肌肉静水器。排列在正交平面上的不同肌肉在肌肉静水器中产生相互对抗作用，在肌肉收缩期间不改变其体积，并允许手臂弯曲和伸长以及刚度变化。通过从章鱼的自然技能中汲取灵感，并通过分析其手臂肌肉结构的几何和力学，我们提出了一种由人工肌肉静压结构组成的机器人手臂的设计，该结构完全柔软且柔顺，但也能够变硬。在本文中，我们通过展示数学模型和原型模型获得的结果，讨论了机械臂的设计标准，以及这种设计及其肌肉结构的特殊布置如何实现机械臂的构建。
This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups.