软机器人
执行机构
气动执行机构
软质材料
计算机科学
仿生学
控制工程
气动人工肌肉
工程类
人工智能
机械工程
人工肌肉
材料科学
纳米技术
作者
Xiaohui Guo,Dongming Xu,Hao Liu,Zhaobin Li,Shengxin Zhu,Yinuo Chen,Fan Yao,X. Qian,Zhitong Wang,Yongming Tang,Weiqiang Hong,Jianqi Shu,Xiangchen Zhao,Qi Hong,Yunong Zhao
标识
DOI:10.1088/1361-665x/adb8af
摘要
Abstract Currently, soft pneumatic actuators are widely used in the field of soft robotics. However, the majority of them are designed for specific application scenarios. To broaden the practical applications of a single actuator and tackle the issue of actuator versatility, this paper introduces the design of a bionic multidirectional bending actuator inspired by the tail structure of a crocodile. The actuator offers cost-effectiveness, responsiveness, adaptability, and sideways rotation capability. The research utilizes a modular approach that allows the actuator to be constructed and assembled into mechanical soft grippers, assistive gloves, and bipedal crawling robots. Based on various application scenarios, this study has designed three basic bending gaits that enable a mechanical gripper to grasp objects, unscrew bottle caps, assist the hand in grasping and placing objects, and enable the robot to crawl forward and turn, respectively. Overall, the actuators proposed in this paper are highly adaptable to a variety of applications and can reliably fulfill the required tasks.
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