用于电动伸展运动的灵活、结构化软机器人致动器

IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-11-17 DOI:10.1002/aisy.202470054

Taekyoung Kim, Pranav Kaarthik, Ryan L. Truby

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摘要

用于电动伸展运动的柔性结构软机器人致动器在 Ryan L. Truby 及其合作者撰写的文章（文章编号 2300866）中，报告了一种柔性结构软机器人致动器，该致动器包括一个 3D 打印的圆柱形交剪辅助结构和一个可变形的内部橡胶波纹管轴。在伺服电机施加扭矩时，致动器可线性伸展，同时保持高柔性。图片展示了软促动器作为爬行软机器人使用的情况，它可以在狭窄曲折的环境中移动。机械变形能力使执行器能够被动地适应环境。

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A Flexible, Architected Soft Robotic Actuator for Motorized Extensional Motion

A Flexible, Architected Soft Robotic Actuator for Motorized Extensional Motion

In article number 2300866 by Ryan L. Truby and co-workers, a flexible, architected soft robotic actuator is reported that comprises a 3D printed, cylindrical handed shearing auxetic structure and a deformable, internal rubber bellows shaft. The actuator linearly extends upon applying torque from a servo motor, while maintaining high flexibility. The photomontage shows the soft actuator used as a crawling soft robot that can move through tight, tortuous surroundings. The mechanical deformability allows the actuator to passively adapt to its environment.

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