用新型软材料让机械臂扛起600克重物并精准移动
Torque Responsive Metamaterials Enable High Payload Soft Robot Arms
- 用螺旋剪切超材料与抗扭伸缩轴实现高承力软臂设计
- 垂直推重2.3公斤，水平悬吊超600克，基底抗扭达0.33牛米
- 适合管道检测等需柔性高负载的工业场景
软体机器人在自重对抗重力时难以承受大载荷和力矩，限制了其在巡检、推动物体等任务中的应用。本文通过电驱动的超材料软臂，结合手性剪切辅助结构（HSA）和可弯曲伸缩抗扭轴（BETR），利用HSA的大承载力与BETR的可嵌套扭矩传递特性，实现了强韧软臂。实验表明，该HSA臂能垂直推动2.3公斤物体，水平状态可悬挂超过600克，并在基底承受0.33牛米扭矩。手臂在携带大负载情况下仍可精确到达多个目标点，路径偏差低于5毫米。同时验证了使用HSA夹爪进行主动抓取的能力，需20牛拉力才能释放物体。最后在管道内壁巡检测试中，臂体成功定位所有缺陷，展现了良好顺应性。
原文摘要 · Abstract (English)
Soft robots have struggled to support large forces and moments while also supporting their own weight against gravity. This limits their ability to reach certain configurations necessary for tasks such as inspection and pushing objects up. We have overcome this limitation by creating an electrically driven metamaterial soft arm using handed shearing auxetics (HSA) and bendable extendable torque resistant (BETR) shafts. These use the large force and torque capacity of HSAs and the nestable torque transmission of BETRs to create a strong soft arm. We found that the HSA arm was able to push 2.3 kg vertically and lift more than 600 g when positioned horizontally, supporting 0.33 Nm of torque at the base. The arm is able to move between waypoints while carrying the large payload and demonstrates consistent movement with path variance below 5 mm. The HSA arm's ability to perform active grasping with HSA grippers was also demonstrated, requiring 20 N of pull force to dislodge the object. Finally, we test the arm in a pipe inspection task. The arm is able to locate all the defects while sliding against the inner surface of the pipe, demonstrating its compliance.
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