用电驱动液气相变实现高速高力软体机器人执行器
Electrically-driven phase transition actuators to power soft robot designs
- 用导电加热线圈驱动水相变，实现快速形变
- 可达16%/s应变率、100kPa/s增压率，24V下输出超50N力
- 可定制工作流体+非线性控制，适合生物仿生机器人
在追求电驱动软体执行器的过程中，研究重点已从常与低应变率和动作延迟相关的液气相变转向静电及其他电热驱动方式。这使得技术未能充分利用其独特优势，如低压运行、可控性、可扩展性和易于集成。本文提出一种以水为工质、由线圈式柔性加热元件供电的液气相变电驱动软执行器。该装置实现超过16%/s的应变率和100 kPa/s的增压速率，在最高24 V电压下产生超过50 N的阻塞力。我们提出一种工质选择方法，支持按应用需求优化，并采用非线性控制策略，有效减少寄生振动和控制延迟。通过实例展示该技术在软体机器人系统中的集成应用，包括基于电缆驱动的仿生手和由液气相变驱动的四足机器人。
原文摘要 · Abstract (English)
In the quest for electrically-driven soft actuators, the focus has shifted away from liquid-gas phase transition, commonly associated with reduced strain rates and actuation delays, in favour of electrostatic and other electrothermal actuation methods. This prevented the technology from capitalizing on its unique characteristics, particularly: low voltage operation, controllability, scalability, and ease of integration into robots. Here, we introduce a liquid-gas phase transition electric soft actuator that uses water as the working fluid and is powered by a coil-type flexible heating element. It achieves strain rates of over 16%/s and pressurization rates of 100 kPa/s. Blocked forces exceeding 50 N were achieved while operating at voltages up to 24 V. We propose a method for selecting working fluids which allows for application-specific optimization, together with a nonlinear control approach that reduces both parasitic vibrations and control lag. We demonstrate the integration of this technology in soft robotic systems, including a cable-driven biomimetic hand and a quadruped robot powered by liquid-gas phase transition.
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