具有非对称褶皱结构的自生长软体机器人设计与运动特性  

Design and Kinematic Characters of Self-Growing Soft Robots with an Asymmetric Fold Structure

作　　者：孟军辉 马诺 胡睿 金泽华 李文光[1] 刘莉[1] MENG Junhui;MA Nuo;HU Rui;JIN Zehua;LI Wenguang;LIU Li(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,Beijing,China)

机构地区：[1]北京理工大学宇航学院,北京100081

出　　处：《兵工学报》2022年第12期3186-3199,共14页Acta Armamentarii

基　　金：国家自然科学基金项目(11902029)。

摘　　要：针对充气自生长软体机器人现有主动方向控制方案对功能与精度难以兼顾的问题,通过对软甲亚纲海洋底栖动物腹节结构的模仿,提出非对称褶皱结构主动转向方案。通过在控制腔室内外侧布置非对称的褶皱结构,使控制腔室在充压时内外侧形成非对称的展开效果,从而形成长度差并实现对囊体转向的高精度可逆主动控制。在此基础上,完成对自生长软体机器人样机的制造。建立囊体褶皱宽度、褶皱间距等设计参数与转向半径、角度等性能关系的数学模型,并通过数值仿真与样机试验加以验证。研究结果表明:所提出的转向方案能够在保障囊体运动能力的前提下,有效驱动囊体实现大角度高精度的可逆方向控制,并具有较高的设计自由度;所建立的数学模型能够较为精确地对囊体运动性能进行预测;所设计自生长软体机器人可应用于未来城市作战中狭窄非通视空间的侦查和引导打击。To address the difficulties in realizing both functions and high accuracy of an active direction control scheme for self-growing soft robots,an asymmetric fold structure inspired by the abdominal segment structure of marine benthos of the Malacostraca is proposed.The asymmetric fold structure is deployed outside the control chambers to realize asymmetric expansion under inflation pressure.High-precision reversible active direction control of capsules can be realized using this scheme.The manufacturing of a self-growing soft robot prototype is completed based on this scheme.The mathematical model for the relationship between the design parameters such as fold width and fold spacing and performance such as steering radius and angle is proposed,which is then analyzed by theoretical studies and numerical simulation,and further verified by experiments.Results show that the proposed scheme can effectively realize large-angle and high-precision reversible direction control without interfering with the moving ability of the capsule,and a high degree of design freedom can be achieved.The theoretical model can accurately predict the capsule s kinematic performance.The designed self-growing soft robot can be applied to missions such as the investigation of and guidance in narrow non-intervisibility spaces in future urban operations.

关 键 词：软体机器人 仿生学 尖端自生长 非对称褶皱 运动特性 

分 类 号：TJ99[兵器科学与技术—武器系统与运用工程]