一种由单材料3D打印实现的单片式力-本体感觉软执行器

中文摘要 AI 辅助

气动本体感觉执行器将驱动与传感集成于软体机器人中，这类机器人因其功能潜力而备受关注。现有方法常因异质材料导致装配误差或应力集中。在本工作中，我们提出了单片式力-本体感觉软（MFPS）设计与制造方法，通过一步法熔融沉积建模（FDM）制造，将非对称折纸弯曲（AOB）腔室和力-本体感觉软（FPS）传感器集成于单一材料中。基于导电热塑性聚氨酯（TPU）对应变的电阻响应，我们设计并分析了FPS传感器的结构，并对传感特性进行了参数化分析。分析了MFPS执行器的FDM制造参数，随后进行了执行器制造以及驱动和本体感觉性能的表征。实验结果表明，当施加的外部力从0增加到45 N时，MFPS执行器实现了40°的弯曲角度、12.5 N的输出力和26.9%的电阻变化。基于MFPS执行器开发了一种两指力-本体感觉夹持器。抓取和力-本体感觉能力得到了实验验证，证明了MFPS设计方法为自传感执行器的发展提供了一种新途径。

英文摘要

Pneumatic proprioceptive actuators integrate actuation and sensing for soft robots that attract interest due to functional potential. Existing approaches often suffer from assembly errors or stress concentrations caused by heterogeneous materials. In this work, we propose the Monolithic Force-Proprioception Soft (MFPS) design and fabrication method that integrates an Asymmetric Origami Bending (AOB) chamber and a Force-Proprioception Soft (FPS) sensor with single material through one-step Fused Deposition Modeling (FDM) fabrication. Based on the resistance response to strain of conductive thermoplastic polyurethane (TPU), we design and analyze the structure of the FPS sensor, and conduct parametric analysis on the sensing characteristics. The FDM fabrication parameters of the MFPS actuator are analyzed, followed by actuator fabrication and characterization of the actuation and proprioception performance. Experimental results show that the MFPS actuator achieves a bending angle of 40°, an output force of 12.5 N, and a resistance change of 26.9% as the applied external force increased from 0 to 45 N. A two-finger force-proprioception gripper is developed based on the MFPS actuator. The grasping and force-proprioception capabilities are experimentally validated, proving that the MFPS design method provides a new approach for the development of self-sensing actuators.

发表机构

• Southern University of Science and Technology（南方科技大学）
• Shenzhen Technology University（深圳技术大学）

机构由 AI 辅助整理，请以论文原文为准。