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SOFT ROBOTS: Increasing the payload capacity of soft robot arms by localized stiffening
参考中译:软机器人：通过局部加强来提高软机器人手臂的有效载荷能力


          

刊名：Science Robotics
作者：Daniel Bruder（John A. Paulson School of Engineering and Applied Sciences, Harvard University）
Moritz A. Graule（John A. Paulson School of Engineering and Applied Sciences, Harvard University）
Clark B. Teeple（John A. Paulson School of Engineering and Applied Sciences, Harvard University）
Robert J. Wood（John A. Paulson School of Engineering and Applied Sciences, Harvard University）
刊号：737B0239/I
出版年：2023
年卷期：2023, vol.8, no.81
页码：9001-1--9001-12
总页数：12
分类号：TP24
语种：eng
文摘：Soft robot arms offer safety and adaptability due to their passive compliance, but this compliance typically limits their payload capacity and prevents them from performing many tasks. This paper presents a model-based design approach to effectively increase the payload capacity of soft robot arms. The proposed approach uses localized body stiffening to decrease the compliance at the end effector without sacrificing the robot's range of motion. This approach is validated on both a simulated and a real soft robot arm, where experiments show that increasing the stiffness of localized regions of their bodies reduces the compliance at the end effector and increases the height to which the arm can lift a payload. By increasing the payload capacity of soft robot arms, this approach has the potential to improve their efficacy in a variety of tasks including object manipulation and exploration of cluttered environments.
参考中译：软机械臂由于其被动合规性而提供了安全性和适应性，但这种合规性通常限制了它们的有效载荷能力，并阻止它们执行许多任务。提出了一种基于模型的设计方法，有效地提高了软机械臂的承载能力。该方法在不牺牲机器人S运动范围的情况下，使用局部身体刚化来降低末端执行器的柔度。该方法在模拟和真实的软机械臂上都得到了验证，实验表明，增加机器人身体局部区域的刚度可以降低末端执行器的柔度，并增加手臂可以举起有效载荷的高度。通过增加软机械臂的有效载荷能力，该方法有可能提高其在各种任务中的效率，包括物体操纵和探索杂乱的环境。



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