基于织物的星形软体机器人夹持器
Fabric-based star soft robotic gripper
AI总结：
提出一种利用织物扁平气球面内过度曲率效应的新型气动星形软体夹持器，通过实验与仿真优化其几何结构，实现高刚度、大夹持力及轻量化设计。
摘要：
软体气动夹持策略通常基于由软弹性体材料制成的结构的加压驱动，这在尺寸、重量、可实现的力以及制造难易度方面限制了设计。另一方面，基于织物的充气结构为软体机器人提供了高刚度重量比的解决方案，但其驱动方式鲜少被探索。在此，我们提出了一类新型气动软体夹持器，利用不可伸展的织物扁平气球充气时的面内过度曲率效应。我们的夹持器呈星形，在压力作用下径向收缩，对物体产生夹持力，其强度可通过压力输入进行调节。我们首先通过实验、有限元仿真和解析模型，研究单个V形驱动器的运动学和力学特性。随后，我们利用这些结果预测整个星形结构的力学响应，优化其几何形状，并最大化收缩和刚度。我们证明，通过在刚性框架中堆叠多个星形结构可以增加夹持力。我们期望，我们方法的灵活性、鲁棒性、可扩展性和制造便捷性将催生新一代更轻、更大的驱动器，这些驱动器能够产生更大的力并移动脆弱且形状不规则的物体，同时保持合理的复杂度。
英文摘要：
Soft pneumatic gripping strategies are often based on pressurized actuation of structures made of soft elastomeric materials, which limits designs in terms of size, weight, achievable forces, and ease of fabrication. On the other hand, fabric-based inflatable structures offer high stiffness-to-weight ratio solutions for soft robotics, but their actuation has been little explored. Here we present a new class of pneumatic soft grippers that exploits the in-plane over-curvature effect of inextensible fabric flat balloons upon inflation. Our gripper has a star shape that contracts radially under pressure producing a gripping force on the object whose intensity can be modulated by the pressure input. We first focus on the kinematics and mechanics of a single V-shaped actuator through experiments, finite element simulations, and analytical models. We then leverage these results to predict the mechanical response of the entire star, optimize its geometry, and maximize contraction and stiffness. We demonstrate that the gripping force can be increased by stacking multiple stars in a rigid frame. We expect that the flexibility, robustness, scalability and ease of fabrication of our methodology will lead to a new generation of lighter and larger actuators capable of developing higher forces and moving delicate and irregularly shaped objects while maintaining reasonable complexity.
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