具有静液压骨架的柔性圆环机器人的伸缩机构
Retraction Mechanism of Soft Torus Robot with a Hydrostatic Skeleton
摘要：
软体机器人由于其高度的适应性，近年来引起了人们的广泛关注。长关节式软体机器人能够实现多种操作，并且通过生长在其环境中导航的尖端延伸机器人在机器人搜索应用中非常有效。由于机器人膜从尖端延伸，这些机器人可以在没有环境摩擦的情况下伸长。然而，膜的柔性抑制尖端缩回。已经提出了两种方法来解决这个问题;增加内部流体的压力以增强刚度，以及在尖端安装致动器。前者的缺点是增加受到膜压力阻力的限制，而第二种方法增加了机器人的复杂性。在本文中，我们提出了一个尖端收回机构没有弯曲运动，利用摩擦从外部环境。水被用作内部流体，以增加与环境的地面压力。我们探讨了故障模式的收回运动，并提出合理的解决方案，使用静压骨骼机器人。此外，我们开发了一个原型机器人，成功地收回使用所提出的方法。我们的解决方案可以有助于在软机器人领域的应用软蛇和机械手的机械设计的进步。
英文摘要：
Soft robots have attracted much attention in recent years owing to their high adaptability. Long articulated soft robots enable diverse operations, and tip-extending robots that navigate their environment through growth are highly effective in robotic search applications. Because the robot membrane extends from the tip, these robots can lengthen without friction from the environment. However, the flexibility of the membrane inhibits tip retraction. Two methods have been proposed to resolve this issue; increasing the pressure of the internal fluid to reinforce rigidity, and mounting an actuator at the tip. The disadvantage of the former is that the increase is limited by the membrane pressure resistance, while the second method adds to the robot complexity. In this paper, we present a tip-retraction mechanism without bending motion that takes advantage of the friction from the external environment. Water is used as the internal fluid to increase ground pressure with the environment. We explore the failure pattern of the retraction motion and propose plausible solutions by using hydrostatic skeleton robot. Additionally, we develop a prototype robot that successfully retracts by using the proposed methodology. Our solution can contribute to the advancement of mechanical design in the soft robotics field with applications to soft snakes and manipulators.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
