变形
执行机构
模块化设计
机器人
仿生学
气动执行机构
机器人学
计算机科学
DNA折纸
软机器人
控制工程
刚度(电磁)
机械工程
工程类
人工智能
结构工程
化学工程
纳米结构
操作系统
出处
期刊:Soft robotics
[Mary Ann Liebert]
日期:2023-08-24
标识
DOI:10.1089/soro.2022.0233
摘要
The art of origami has gained traction in various fields such as architecture, the aerospace industry, and soft robotics, owing to the exceptional versatility of flat sheets to exhibit complex shape transformations. Despite the promise that origami robots hold, their use in high-capacity environments has been limited due to the lack of rigidity. This article introduces novel, origami-inspired, self-locking pneumatic modular actuators (SPMAs), enabling them to operate in such environments. Our innovative approach is based on origami patterns that allow for various types of shape morphing, including linear and rotational motion. We have significantly enhanced the stiffness of the actuators by embedding magnets in composite sheets, thus facilitating their application in real-world scenarios. In addition, the embedded self-adjustable valves facilitate the control of sequential origami actuations, making it possible to simplify the pneumatic system for actuating multimodules. With just one actuation source and one solenoid valve, the valves enable efficient control of our SPMAs. The SPMAs can control robotic arms operating in confined spaces, and the entire system can be modularized to accomplish various tasks. Our results demonstrate the potential of origami-inspired designs to achieve more efficient and reliable robotic systems, thus opening up new avenues for the development of robotic systems for various applications.
科研通智能强力驱动
Strongly Powered by AbleSci AI