Inflatable soft jumper inspired by shell snapping
Inflatable soft jumper inspired by shell snapping
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充气软毛衣的灵感来自贝壳折断的声音
DOI：
10.1126/scirobotics.abb1967
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发表时间：
2020-05-20
期刊：
影响因子：
25
通讯作者：
Bertoldi, Katia
中科院分区：
文献类型：
--
作者：
Gorissen, Benjamin;Melancon, David;Bertoldi, Katia
Fluorescent软致动器通过提供可以显示高度复杂变形的柔性元件来扩大机器人工具箱。虽然这些致动器是可适应的并且固有地安全，但是它们的致动速度通常是慢的，因为流体的流入受到粘性力的限制。为了克服这一限制，并实现能够快速移动的软致动器，我们专注于在体积控制条件下加压时表现出等容卡扣的球冠。首先，我们注意到，这种突变不稳定性导致能量的突然释放和快速的帽位移。受这些发现的启发，我们研究了包括这种球冠作为积木的致动器的响应，并观察到相同的等容抢购机制后，通货膨胀。最后，我们证明了这种不稳定性可以被利用来使这些致动器即使在以低速充气时也能跳跃。我们的研究为设计一种新兴的流体软设备提供了基础，这种设备可以将缓慢的输入信号转换为快速的输出变形。
Fluidic soft actuators are enlarging the robotics toolbox by providing flexible elements that can display highly complex deformations. Although these actuators are adaptable and inherently safe, their actuation speed is typically slow because the influx of fluid is limited by viscous forces. To overcome this limitation and realize soft actuators capable of rapid movements, we focused on spherical caps that exhibit isochoric snapping when pressurized under volume-controlled conditions. First, we noted that this snap-through instability leads to both a sudden release of energy and a fast cap displacement. Inspired by these findings, we investigated the response of actuators that comprise such spherical caps as building blocks and observed the same isochoric snapping mechanism upon inflation. Last, we demonstrated that this instability can be exploited to make these actuators jump even when inflated at a slow rate. Our study provides the foundation for the design of an emerging class of fluidic soft devices that can convert a slow input signal into a fast output deformation.