气动执行机构
藤蔓
软机器人
执行机构
机器人
工程类
计算机科学
人工智能
生物
植物
作者
Alexander M. Kübler,Cosima du Pasquier,Andrew Low,Betim Djambazi,Nicolas Aymon,Julian Förster,Nathaniel Agharese,Roland Siegwart,Allison M. Okamura
出处
期刊:Soft robotics
[Mary Ann Liebert]
日期:2024-05-07
被引量:2
标识
DOI:10.1089/soro.2023.0169
摘要
Soft pneumatic actuators are used to steer soft growing "vine" robots while being flexible enough to undergo the tip eversion required for growth. In this study, we compared the performance of three types of pneumatic actuators in terms of their ability to perform eversion, quasi-static bending, dynamic motion, and force output: the pouch motor, the cylindrical pneumatic artificial muscle (cPAM), and the fabric pneumatic artificial muscle (fPAM). The pouch motor is advantageous for prototyping owing to its simple manufacturing process. The cPAM exhibits superior bending behavior and produces the highest forces, whereas the fPAM actuates fastest and everts at the lowest pressure. We evaluated a range of dimensions for each actuator type. Larger actuators can produce more significant deformations and forces, but smaller actuators inflate faster and can evert at a lower pressure. Because vine robots are lightweight, the effect of gravity on the functionality of different actuators is minimal. We developed a new analytical model that predicts the pressure-to-bending behavior of vine robot actuators. Using the actuator results, we designed and demonstrated a 4.8 m long vine robot equipped with highly maneuverable 60 × 60 mm cPAMs in a three-dimensional obstacle course. The vine robot was able to move around sharp turns, travel through a passage smaller than its diameter, and lift itself against gravity.
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