论文标题
节能可调状态软机器人使用区域驱动的第二刻
Energy-efficient tunable-stiffness soft robots using second moment of area actuation
论文作者
论文摘要
软游泳机器人的最佳刚度取决于游泳速度，这意味着在所有游泳条件下，没有一个刚度可以最大化效率。可调的刚度将为具有柔性推进器的机器人带来增加的高效游泳速度，并为转向水下车辆的软控制表面。我们提出并演示了一种使用充气橡胶管，通过压力和第二矩变化来使硅胶箔加强的方法来调谐机器人刚度。我们实现了从0到0.8 bar和2 J能量输入的输入压力变化的系统的有效刚度的两倍。我们达到了一个共振振幅的增益，是输入振幅的5到7倍，并将高增益频率范围比相比，其固定刚度相比。这些结果表明，改变区域的第二刻是一种能源有效的方法，无法建立机器人。
The optimal stiffness for soft swimming robots depends on swimming speed, which means no single stiffness can maximise efficiency in all swimming conditions. Tunable stiffness would produce an increased range of high-efficiency swimming speeds for robots with flexible propulsors and enable soft control surfaces for steering underwater vehicles. We propose and demonstrate a method for tunable soft robotic stiffness using inflatable rubber tubes to stiffen a silicone foil through pressure and second moment of area change. We achieved double the effective stiffness of the system for an input pressure change from 0 to 0.8 bar and 2 J energy input. We achieved a resonant amplitude gain of 5 to 7 times the input amplitude and tripled the high-gain frequency range comparedto a foil with fixed stiffness. These results show that changing second moment of area is an energy effective approach tot unable-stiffness robots.
