一体式软体机器人单元实现驱动、传感与仿真一体化设计。
Monolithic Units: Actuation, Sensing, and Simulation for Integrated Soft Robot Design
- 将气动驱动、柔性骨架与光学传感集成于单一打印结构中。
- 通过参数化设计确保可重复制造，实验验证机械性能保持稳定。
- 适合需要嵌入式传感的可扩展软体机器人开发人员使用。
本文提出一体式单元（Monolithic Unit, MU），作为软体机器人的驱动-晶格-传感一体化构建模块。MU将气动驱动、柔顺晶格外壳及光学波导传感候选路径集成于单一打印结构中。为研究可复现性与可扩展性，建立参数化设计框架，确定驱动腔尺寸与晶格单元大小之间的确定性关系。通过实验均质化处理晶格样品，获得用于有限元仿真的有效材料属性。在此仿真环境中，将传感器布局视为离散优化问题，基于晶格节点生成有限个波导路径候选方案，通过引入局部刚化并选择使机械响应偏离最小的配置。优化模型被制造并实验表征，验证了机械性能保持的同时实现了嵌入式传感。该流程进一步扩展至缩放单元和双指夹持器，证明了MU概念的通用性。该方法通过可复现的协同设计规则与仿真指导的传感集成，推动了一体化软体机器人设计的发展。
原文摘要 · Abstract (English)
This work introduces the Monolithic Unit (MU), an actuator-lattice-sensor building block for soft robotics. The MU integrates pneumatic actuation, a compliant lattice envelope, and candidate sites for optical waveguide sensing into a single printed body. In order to study reproducibility and scalability, a parametric design framework establishes deterministic rules linking actuator chamber dimensions to lattice unit cell size. Experimental homogenization of lattice specimens provides effective material properties for finite element simulation. Within this simulation environment, sensor placement is treated as a discrete optimization problem, where a finite set of candidate waveguide paths derived from lattice nodes is evaluated by introducing local stiffening, and the configuration minimizing deviation from baseline mechanical response is selected. Optimized models are fabricated and experimentally characterized, validating the preservation of mechanical performance while enabling embedded sensing. The workflow is further extended to scaled units and a two-finger gripper, demonstrating generality of the MU concept. This approach advances monolithic soft robotic design by combining reproducible co-design rules with simulation-informed sensor integration.
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