真空驱动磁力开关结构及其在手爪和四足机器人上的应用
Vacuum Driven Auxetic Switching Structure and Its Application on a Gripper and Quadruped
摘要：
在过去的几年里，生长素的性质和应用得到了广泛的探索。通过适当利用拉胀结构，可以产生具有前所未有的机械和结构行为的设计。利用这一点，我们提出了一个简单的拉胀单元的启发，新颖的和低成本的3D结构的发展。核心部分，在本文中我们称之为主体，是2D旋转正方形的3D实现。这个身体结构是由四个类似的结构通过较软的材料在顶点连接而成。这种整体结构是通过定制的多材料3D打印机完成的。该模型的工作方式是，当沿着旋转正方形的表面施加扭矩时，它们倾向于在较软材料的顶点处弯曲，并且由于设计的连通性，实现了适当的打开和关闭运动。为了证明这部分作为机器人的重要组成部分的潜力，提出了两个应用：软夹持器和爬行机器人。电动执行器可移动这两种应用。所提出的夹持器结合了两种类型的夹持器的优点，夹持器的手指平行放置，彼此等距，在一个单一的设计。该夹持器可适应物体的尺寸，并可夹持具有大截面和小截面的物体。一种新型的弯曲致动器，它是由软材料制成的，并在真空时弯曲的曲率，提供了抓持器的抓持性质。爬行机器人，除了他们的多才多艺的性质，提供了一个更好的互动与人类。所设计的爬行机器人采用负压驱动执行器，突出直线和转弯运动。
英文摘要：
The properties and applications of auxetics have been widely explored in the past years. Through proper utilization of auxetic structures, designs with unprecedented mechanical and structural behaviors can be produced. Taking advantage of this, we present the development of novel and lowcost 3D structures inspired by a simple auxetic unit. The core part, which we call the body in this paper, is a 3D realization of 2D rotating squares. This body structure was formed by joining four similar structures through softer material at the vertices. A monolithic structure of this kind is accomplished through a custom-built multi-material 3D printer. The model works in a way that, when torque is applied along the face of the rotational squares, they tend to bend at the vertex of the softer material, and due to the connected-ness of the design, a proper opening and closing motion is achieved. To demonstrate the potential of this part as an important component for robots, two applications are presented: a soft gripper and a crawling robot. Vacuum-driven actuators move both the applications. The proposed gripper combines the benefits of two types of grippers whose fingers are placed parallel and equally spaced to each other, in a single design. This gripper is adaptable to the size of the object and can grasp objects with large and small cross-sections alike. A novel bending actuator, which is made of soft material and bends in curvature when vacuumed, provides the grasping nature of the gripper. Crawling robots, in addition to their versatile nature, provide a better interaction with humans. The designed crawling robot employs negative pressure-driven actuators to highlight linear and turning locomotion.
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。
