低成本双向注射泵助力软体机器人精准驱动
Development of Low-Cost and Bidirectional Syringe Pumps for Soft Robotics Applications
- 用市售和3D打印件搭建模块化注射泵，实现双向气动控制
- 可同时实现充气与抽真空，提升软体机器人形变精度
- 开源硬件与可定制软件，适合科研与教学场景
软体机器人利用可变形材料在非结构化动态环境中灵活运动。硅胶体素软体机器人（Silibots）是一种气动驱动的软体机器人，通过体素的充气与放气实现形态变化。然而，传统气动驱动方式（高压电磁阀、医用隔膜泵、微型压缩机、压缩气体）存在效率低、成本高、结构复杂或精度不足等问题。本文提出一种低成本、模块化的注射泵系统，由市售零件与3D打印部件组装而成，克服上述限制。该系统具备双向功能，既能向软体机器人泵入空气，也能抽取真空，实现更精细的驱动控制。此外，其硬件模块化、软件可定制，支持多泵协同运行并独立配置参数，便于研究人员按需调整。该设计显著降低了软体机器人研究门槛，推动其在科研与教育领域的广泛应用。
原文摘要 · Abstract (English)
Soft robotics leverages deformable materials to develop robots capable of navigating unstructured and dynamic environments. Silicone Voxel-Based Soft Robots (Silibots) are a type of pneumatically actuated soft robots that rely on the inflation and deflation of their voxels for shape-shifting behaviors. However, traditional pneumatic actuation methods (high pressure solenoids, medical diaphragm pumps, micro compressors, compressed fluid) pose significant challenges due to their limited efficacy, cost, complexity, or lack of precision. This work introduces a low cost and modular syringe pump system, constructed with off the shelf and 3D printed parts, designed to overcome these limitations. The syringe pump system also enhances actuation with the unique ability to pull a vacuum as well pump air into the soft robot. Furthermore, the syringe pump features modular hardware and customizable software, allowing for researchers to tailor the syringe pump to their requirements or operate multiple pumps simultaneously with unique pump parameters. This flexibility makes the syringe pump an accessible and scalable tool that paves the way for broader adoption of soft robotic technologies in research and education.
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