双模式形变驱动变构软体机器人  

Soft robot based on dual-mode deformation driving variable configuration

作　　者：黄海明 谢钧涛 黄灿炜 吴迪森 欧阳佳妮 逄崇玉 郑立钒 HUANG Haiming;XIE Juntao;HUANG Canwei;WU Disen;OUYANG Jiani;PANG Chongyu;ZHENG Lifan(College of Electronics and Information Engineering,Shenzhen University,Shenzhen 518060,Guangdong Province,P.R.China)

机构地区：[1]深圳大学电子与信息工程学院,广东深圳518060

出　　处：《深圳大学学报（理工版）》2024年第5期602-611,共10页Journal of Shenzhen University(Science and Engineering)

基　　金：国家自然科学基金资助项目(62173233);广东省自然科学基金资助项目(2021A1515011582);深圳市基础研究计划(JCYJ20210324094401005,JCYJ20220531102809022)。

摘　　要：当前软体机器人利用单类型执行器组合形成某种特定构型,无法通过改变构型适应可变环境.为提高软体机器人的环境适应能力,结合收缩和弯曲的双模式形变驱动机理,利用两种执行器构建多类型的可变构型软体机器人,借助正负压驱动控制系统,实现多种运动和操作功能.提出海绵基体结合束缚层的收缩形变和弯曲形变驱动方法,设计对立面束缚的收缩形变单元及对立面和底面共同束缚的弯曲形变单元.组合收缩形变单元和弯曲形变单元,构造仿尺蠖爬行软体机器人和手足复用软体机器人.提出结合负比例阀和电磁阀的正负压气动控制系统,输出负压驱动收缩形变、弯曲形变和吸盘吸附;输出正压控制形变单元的快速恢复,实现变构型软体机器人的驱动控制.抓取、爬行、爬坡、转向、转向直行和爬管实验结果表明,仿尺蠖爬行软体机器人能在23°斜坡上爬行,手足复用软体机器人能抓取1.2 kg物体,进而验证变构型软体机器人的环境适应和功能复用能力.Currently,soft robots focus on single class actuators to form a certain configuration,and are unable to meet the requirements of variable environments by changing the configuration.In order to enhance the environmental adaptability of soft robots,variable configuration soft robots are proposed by combing the dual-mode deformation drive of contraction and bending,and a pneumatic control system driven by positive and negative pressure is utilized to realize various motion and manipulation.A contraction and bending deformation driving method of sponge-based matrix combined with constrained layers is proposed to design contraction deformation units constrained by opposing surfaces and bending deformation units constrained by opposing and bottom surfaces.Combing contraction de-formation units and bending deformation units,an inchworm-inspired crawling soft robot and a hand-foot fusion soft robot are constructed.A positive and negative pressure pneumatic control system combining negative pressure proportional valves and solenoid valves is proposed,which outputs negative pressure to actuate contraction deformation,bending de-formation,and suction cup adsorption,and similarly outputs positive pressure to control the rapid recovery of deformation units,realizing driving control of variable configuration soft robots.Through experiment on grasping,crawling,slopes climbing,turning,moving forward while turning,and pipe-climbing,the results demonstrate that inchworm-inspired crawling soft robot is able to crawl on a 23°slope and hand-foot fusion soft robot can grasp a 1.2 kg object,thereby verifying the environmental adaptability and functional fusion of variable configuration soft robots.

关 键 词：机器人技术 软体机器人 气压驱动 变构型 仿尺蠖 手足复用 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]