仿生气动模块化执行器实现柔韧物体安全运输
Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport
- 采用环形气动模块与压力反馈同步控制
- 可适应不同形状材质物体，无需复杂算法
- 模块化设计易修复，适合精密物品搬运
尽管其生物学意义已被充分认识，但在软体机器人领域，尤其在处理脆弱且不规则形状物体的传输方面，应用仍不充分。本研究提出一种模块化软体机器人驱动系统，通过可扩展、可调节且可维修的框架，为多样化应用提供低成本解决方案。系统集成优化的环形驱动模块，并利用实时压力反馈实现同步运行，确保高效抓取与运输，无需依赖复杂的传感或控制算法。实验结果验证了该系统对不同几何形态和材料特性的物体具有良好的适应性，兼顾强度与柔韧性。本工作推进了蠕动驱动原理的发展，为多种场景下安全可靠地操作脆弱材料提供了新路径。
原文摘要 · Abstract (English)
While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator system that addresses these challenges through a scalable, adaptable, and repairable framework, offering a cost-effective solution for versatile applications. The system integrates optimized donut-shaped actuation modules and utilizes real-time pressure feedback for synchronized operation, ensuring efficient object grasping and transport without relying on intricate sensing or control algorithms. Experimental results validate the system`s ability to accommodate objects with varying geometries and material characteristics, balancing robustness with flexibility. This work advances the principles of peristaltic actuation, establishing a pathway for safely and reliably manipulating delicate materials in a range of scenarios.
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