用软致动器实现高速高精度6自由度运动平台，性能接近刚性结构。
Force and Speed in a Soft Stewart Platform
- 采用手性剪切辅助弹性体致动器构建软式斯图尔特平台。
- 开环带宽超16Hz，承载2kg，各向移动范围约10cm，姿态旋转达28度。
- 适合需要高速、大位移且柔性的精密控制场景，如机器人操作。
许多软体机器人难以实现快速、大范围的动态运动。本文开发了一种基于手性剪切辅助弹性体（HSA）致动器的并联6自由度斯图尔特-戈夫平台。相比刚性斯图尔特平台，该软平台仅需三分之一的机电组件，仍能承载2kg负载，开环带宽超过16Hz。实验表明，在使用比例积分微分（PID）控制器时，平台可精确追踪运动轨迹，并有效抑制动态扰动，实现对球体和滑块的稳定控制。我们还构建了基于机器学习的运动学模型，验证了其功能工作空间在每个平移方向上约为10cm，每个方向旋转可达28度。该6自由度装置兼具刚性机构的功率、速度与整体工作空间优势，同时保留了软体机构的柔性特性。
原文摘要 · Abstract (English)
Many soft robots struggle to produce dynamic motions with fast, large displacements. We develop a parallel 6 degree-of-freedom (DoF) Stewart-Gough mechanism using Handed Shearing Auxetic (HSA) actuators. By using soft actuators, we are able to use one third as many mechatronic components as a rigid Stewart platform, while retaining a working payload of 2kg and an open-loop bandwidth greater than 16Hz. We show that the platform is capable of both precise tracing and dynamic disturbance rejection when controlling a ball and sliding puck using a Proportional Integral Derivative (PID) controller. We develop a machine-learning-based kinematics model and demonstrate a functional workspace of roughly 10cm in each translation direction and 28 degrees in each orientation. This 6DoF device has many of the characteristics associated with rigid components - power, speed, and total workspace - while capturing the advantages of soft mechanisms.
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