AI 中文总结
本文提出一种将主动材料集成到3D编织壳体的通用框架，制造出兼具高轴向刚度、低弯曲刚度和系统韧性的编织机器人，可承载自重70倍负载运动且抗损伤。
AI 中文摘要
编织工艺，即不同材料相互交织的技术，在制造用于软体机器人、假肢、可穿戴设备、外骨骼等领域的主动功能系统方面具有巨大潜力。这些类纺织系统具有柔韧性，且对人类-机器交互安全；然而，这种固有的柔韧性限制了其承载能力，而承载能力对于许多机器人功能至关重要。在这项工作中，我们引入了一个通用框架，将主动材料集成到三维（3D）编织壳体中，以创建兼具高轴向刚度（用于承重）、低弯曲刚度（用于高效驱动）以及系统级韧性（用于损伤容限）的机器人结构。这些编织机器人可以通过“编织角”（3D编织结构的基本单元）进行模块化组装。我们使用特征值计算来识别3D编织结构的承重和驱动机制，并利用这些信息制造了五种能够运动的机器人。我们证明，这些3D编织机器人能够承载相当于其自重70倍的负载进行运动，并且在遭受极端压缩后仍能保持可重复的性能。这项工作为未来3D编织机器人系统的设计、制造和仿真铺平了道路，这些系统需要同时具备承重、高刚度、主动功能变形、运动和系统级韧性。
英文摘要
The craft of weaving, where different materials are interlaced, has tremendous potential for creating active and functional systems for use in soft robots, prosthetics, wearables, exoskeletons, and more. These textile-like systems are flexible and safe for human-machine interaction; however, this inherent flexibility limits their ability to carry loads, which is essential for many robotic functions. In this work, we introduce a general framework for integrating active materials into three-dimensional (3D) woven shells to create robotic structures that combine high axial stiffness for load bearing, low bending stiffness for efficient actuation, and system-level resilience for damage tolerance. These woven robots can be modularly assembled from 'woven corners', a fundamental unit of 3D woven structures. We use eigenvalue calculations to identify load bearing and actuation mechanisms of the 3D woven structures, and use that information to make five different robots capable of locomotion. We demonstrate that these 3D woven robots can locomote carrying loads 70 times their self-weight, and can maintain repeatable performance even after being subjected to extreme compression. This work is a pathway toward the design, manufacturing, and simulation of future 3D woven robotic systems where load bearing, high stiffness, active functional deformation, locomotion, and system-level resilience are all needed.
