通过非对称结构实现快速可控的软体驱动，仅用一个气压源驱动四足机器人运动
Snapping Actuators with Asymmetric and Sequenced Motion
- 设计偏心穹顶结构，利用几何不稳定性产生可控非对称变形
- 四连动机构在7.5赫兹下实现最高72.78毫米/秒的运动速度
- 适合需要无缆、高效驱动的软体机器人应用
软结构中的突跃失稳为实现快速且节能的驱动提供了有效途径。本研究开发了一种偏心穹顶形突跃驱动器，通过几何诱导的不稳定性实现可控的非对称运动。有限元模拟与实验结果均表明其具有稳定的非对称形变及对应的压强特性。将四个突跃驱动器耦合构成气动网络，仅需单一压力输入即可使紧凑型四足机器人实现协调的波浪式运动。该机器人表现出频率依赖性性能，在7.5赫兹时达到最大速度72.78毫米/秒。研究结果展示了非对称突跃机制在物理控制驱动中的潜力，并为完全无缆、高效的软体机器人系统奠定了基础。
原文摘要 · Abstract (English)
Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through geometry-induced instability. Finite element simulations and experiments reveal consistent asymmetric deformation and the corresponding pressure characteristics. By coupling four snapping actuators in a pneumatic network, a compact quadrupedal robot achieves coordinated wavelike locomotion using only a single pressure input. The robot exhibits frequency-dependent performance with a maximum speed of 72.78~mm/s at 7.5~Hz. These findings demonstrate the potential of asymmetric snapping mechanisms for physically controlled actuation and lay the groundwork for fully untethered and efficient soft robotic systems.
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