热气动人工肌肉:用于无泵气动驱动的气基热气动人工肌肉。

IF 6.4 2区 计算机科学 Q1 ROBOTICS Soft Robotics Pub Date : 2024-04-01 Epub Date: 2023-08-30 DOI:10.1089/soro.2022.0229
Jiseong Shin, Babar Jamil, Hyungpil Moon, Ja Choon Koo, Hyouk Ryeol Choi, Hugo Rodrigue
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引用次数: 0

摘要

为了让机器人更像人类,在人类周围使用更安全,具有顺应性的人工肌肉受到了研究人员的极大关注。然而,尽管气动人工肌肉(PAM)性能卓越,但由于其需要与气动源相连,因此未能在商业移动应用中得到广泛应用。本研究提出了一种名为 Thermo-PAM 的热人工肌肉,它依靠加热一定体积的空气来产生变形。这使得气动致动器只需使用一个电源,从而实现了无泵气动致动器。致动器利用加热体积和可变形体积之间的高比率,在整个运动过程中产生较高的致动力,并可产生收缩或伸展运动。该致动器的可控性及其处理重型有效载荷的能力已得到证实。此外,它还可以依靠正压或负压致动模式,其中正压致动模式在加热时致动,而负压致动模式在加热时放松。Thermo-PAMs 能够以不同的操作方法用于不同的致动模式,这使得所提出的致动器具有高度的通用性,并展示了其在先进的无泵机器人应用中的潜力。
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Thermo-Pneumatic Artificial Muscle: Air-Based Thermo-Pneumatic Artificial Muscles for Pumpless Pneumatic Actuation.

To make robots more human-like and safer to use around humans, artificial muscles exhibiting compliance have gained significant attention from researchers. However, despite having excellent performance, pneumatic artificial muscles (PAMs) have failed to gain significant traction in commercial mobile applications due to their requirement to be tethered to a pneumatic source. This study presents a thermo-PAM called Thermo-PAM that relies on heating of a volume of air to produce a deformation. This allows for pneumatic actuation using only an electrical power source and thus enables pumpless pneumatic actuation. The actuator uses a high ratio between the heating volume and the deformable volume to produce a high actuation force throughout its entire motion and can produce either contractile or extension motions. The controllability of the actuator was demonstrated as well as its ability to handle heavy payloads. Moreover, it is possible to rely on either positive or negative pressure actuation modes where the positive pressure actuation mode actuates when heated and the negative pressure actuation mode relaxes when heated. The ability to use Thermo-PAMs for different modes of actuation with different operation methods makes the proposed actuator highly versatile and demonstrates its potential for advanced pumpless robotic applications.

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来源期刊
Soft Robotics
Soft Robotics ROBOTICS-
CiteScore
15.50
自引率
5.10%
发文量
128
期刊介绍: Soft Robotics (SoRo) stands as a premier robotics journal, showcasing top-tier, peer-reviewed research on the forefront of soft and deformable robotics. Encompassing flexible electronics, materials science, computer science, and biomechanics, it pioneers breakthroughs in robotic technology capable of safe interaction with living systems and navigating complex environments, natural or human-made. With a multidisciplinary approach, SoRo integrates advancements in biomedical engineering, biomechanics, mathematical modeling, biopolymer chemistry, computer science, and tissue engineering, offering comprehensive insights into constructing adaptable devices that can undergo significant changes in shape and size. This transformative technology finds critical applications in surgery, assistive healthcare devices, emergency search and rescue, space instrument repair, mine detection, and beyond.
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