弹性体
刚度(电磁)
执行机构
变形(气象学)
材料科学
屈曲
人工肌肉
移动机械手
机械工程
机器人
弯曲
计算机科学
复合材料
结构工程
工程类
移动机器人
人工智能
作者
Zhiguang Xing,Junming Zhang,David McCoul,Yanzhen Cui,Lining Sun,Jianwen Zhao
出处
期刊:Soft robotics
[Mary Ann Liebert]
日期:2020-01-28
卷期号:7 (4): 512-520
被引量:62
标识
DOI:10.1089/soro.2018.0134
摘要
Some applications are very sensitive to the weight of the robot, such as space manipulation or any untethered mobile manipulation. In this article, we designed a five-module unilaterally bending serial manipulator with length of 32 cm and a weight of only 18 g. The manipulator is driven by dielectric elastomer actuators (DEAs). Each module consists of a spatially closed tubular structure, which has the capability of large deformation while simultaneously maintaining torsional rigidity. The design is based on the buckling of columns. To achieve global deformation continuously, each module was controlled independently by a multichannel high-voltage power supply. As a demo, the manipulator was able to enter and exit a narrow L-shaped pipe. Experiments demonstrate that the manipulator driven by spatial DEAs can be super lightweight and can realize large continuous deformation.
科研通智能强力驱动
Strongly Powered by AbleSci AI