用于可食性机器人的软气动明胶驱动器
Soft Pneumatic Gelatin Actuator for Edible Robotics
摘要：
提出了一种基于明胶-甘油复合材料的全食用气动执行器。该致动器是单片的，通过模制工艺制造，长90 mm，宽20 mm，厚17 mm。由于复合材料的机械特性类似于硅橡胶弹性体，致动器在25 kPa的施加压力下表现出170.3 °的弯曲角和0.34 N的阻挡力。这些值与基于弹性体的气动致动器相当。作为验证示例，集成两个致动器以形成能够处理各种物体的夹具，突出了可食用致动器的高性能和适用性。这些可食用执行器，结合其他最近的可食用材料和电子产品，可以为新型可食用机器人奠定基础。
英文摘要：
We present a fully edible pneumatic actuator based on gelatin-glycerol composite. The actuator is monolithic, fabricated via a molding process, and measures 90 mm in length, 20 mm in width, and 17 mm in thickness. Thanks to the composite mechanical characteristics similar to those of silicone elastomers, the actuator exhibits a bending angle of 170.3 ° and a blocked force of 0.34 N at the applied pressure of 25 kPa. These values are comparable to elastomer based pneumatic actuators. As a validation example, two actuators are integrated to form a gripper capable of handling various objects, highlighting the high performance and applicability of the edible actuator. These edible actuators, combined with other recent edible materials and electronics, could lay the foundation for a new type of edible robots.
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