用可拼接模块快速组装无需绳索的软体机器人
SoftSnap: Rapid Prototyping of Untethered Soft Robots Using Snap-Together Modules
- 模块自带计算、电机和柔性TPU结构，通过绳索驱动变形
- 可快速拼成海星、章鱼、蛇形等5种形态机器人
- 适合想快速试错软体机器人的研究者或教育场景
软体机器人具有适应性强、与复杂环境安全交互的优势。快速原型套件可帮助用户轻松组装不同几何形状，以适配特定环境或模仿生物运动。本文提出SoftSnap模块：一种可拼接组件，用于快速构建一类无缆软体机器人。每个模块包含嵌入式计算单元、电机驱动的绳索致动系统，以及基于柔性热塑性聚氨酯（TPU）打印的可变形结构，其形态由绳索配置决定。模块可通过其他SoftSnap模块或自定义连接器灵活组合。我们展示了四种配置：类海星机器人、海星状机器人、蛇形机器人、3D夹爪和环形机器人，验证了该系统的易组装性、高适应性与功能多样性。SoftSnap模块化系统提供了一种可扩展、即插即用的软体机器人原型设计方法，使研究人员能快速探索无缆软体机器人系统。
原文摘要 · Abstract (English)
Soft robots offer adaptability and safe interaction with complex environments. Rapid prototyping kits that allow soft robots to be assembled easily will allow different geometries to be explored quickly to suit different environments or to mimic the motion of biological organisms. We introduce SoftSnap modules: snap-together components that enable the rapid assembly of a class of untethered soft robots. Each SoftSnap module includes embedded computation, motor-driven string actuation, and a flexible thermoplastic polyurethane (TPU) printed structure capable of deforming into various shapes based on the string configuration. These modules can be easily connected with other SoftSnap modules or customizable connectors. We demonstrate the versatility of the SoftSnap system through four configurations: a starfish-like robot, a brittle star robot, a snake robot, a 3D gripper, and a ring-shaped robot. These configurations highlight the ease of assembly, adaptability, and functional diversity of the SoftSnap modules. The SoftSnap modular system offers a scalable, snap-together approach to simplifying soft robot prototyping, making it easier for researchers to explore untethered soft robotic systems rapidly.
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