执行机构
软机器人
机器人
爬行
气动执行机构
工程类
机器人学
滑脱
伺服电动机
计算机科学
机械工程
人工智能
控制工程
结构工程
医学
解剖
作者
Tao Jin,Long Li,Tianhong Wang,Guopeng Wang,Jianguo Cai,Yingzhong Tian,Quan Zhang
出处
期刊:IEEE Transactions on Robotics
[Institute of Electrical and Electronics Engineers]
日期:2022-04-01
卷期号:38 (2): 748-764
被引量:16
标识
DOI:10.1109/tro.2021.3096644
摘要
Origami has been proved as a valuable tool to develop deployable, multifunctional, and tunable devices for diverse engineering applications. Inspired by the Kresling origami, this article presents a soft pneumatic actuator with vacuum control to realize the compound motion of twist and contraction. The twist direction varies as the crease angle changes and it offers pure contraction after combining two actuators with reverse creases. Our actuator can lift 180 folds of its weight and achieve the contraction ratio of 47%, while the response time is below 0.3 s. The origami-based actuator can realize an adjustable bistable property, leading to the possibility for external stimulus detection and mechanical memory devices, where the sensitivity can be regulated by the initial vacuum pressure. Through several actuators, we demonstrate the reconfigurable crawling robots capable of worm-like creep, alternating-step locomotion as well as obstacle detection. After activating all the actuators, the four-actuator robot with two working modes is validated to perform agilely for confined space navigation, showing our actuator has the potential in soft robotics applications.
科研通智能强力驱动
Strongly Powered by AbleSci AI