论文标题
真空驱动的辅助开关结构及其在抓地力上的应用和四倍
Vacuum Driven Auxetic Switching Structure and Its Application on a Gripper and Quadruped
论文作者
论文摘要
在过去的几年中，Auxetics的特性和应用已被广泛探索。通过适当利用辅助结构，可以产生具有前所未有的机械和结构行为的设计。利用这一点，我们介绍了受简单辅助单元启发的新颖和LowCost 3D结构的开发。我们在本文中称为身体的核心部分是2D旋转正方形的3D实现。通过在顶点处通过较软的材料连接四个相似的结构来形成这种身体结构。通过定制的多物质3D打印机来实现此类整体结构。该模型的工作方式是，当沿旋转正方形的表面施加扭矩时，它们倾向于弯曲柔软的材料的顶点，并且由于设计的连接性，可以实现正确的开口和关闭运动。为了证明该部分作为机器人的重要组成部分的潜力，提出了两个应用：软抓手和一个爬行机器人。真空驱动的执行器移动两个应用程序。拟议的抓手结合了两种类型的抓地力的好处，它们的手指平行地放置，并在一个设计中彼此平均分布。该握把适应物体的大小，并且可以用大小的横截面抓住物体。一种新颖的弯曲致动器，由柔软的材料制成，并在真空时弯曲，弯曲时弯曲，提供了握把的握力。爬行机器人除了多功能性质外，还可以更好地与人类互动。设计的爬行机器人使用负压力驱动的执行器来突出线性并转动运动。
The properties and applications of auxetics have been widely explored in the past years. Through proper utilization of auxetic structures, designs with unprecedented mechanical and structural behaviors can be produced. Taking advantage of this, we present the development of novel and lowcost 3D structures inspired by a simple auxetic unit. The core part, which we call the body in this paper, is a 3D realization of 2D rotating squares. This body structure was formed by joining four similar structures through softer material at the vertices. A monolithic structure of this kind is accomplished through a custom-built multi-material 3D printer. The model works in a way that, when torque is applied along the face of the rotational squares, they tend to bend at the vertex of the softer material, and due to the connected-ness of the design, a proper opening and closing motion is achieved. To demonstrate the potential of this part as an important component for robots, two applications are presented: a soft gripper and a crawling robot. Vacuum-driven actuators move both the applications. The proposed gripper combines the benefits of two types of grippers whose fingers are placed parallel and equally spaced to each other, in a single design. This gripper is adaptable to the size of the object and can grasp objects with large and small cross-sections alike. A novel bending actuator, which is made of soft material and bends in curvature when vacuumed, provides the grasping nature of the gripper. Crawling robots, in addition to their versatile nature, provide a better interaction with humans. The designed crawling robot employs negative pressure-driven actuators to highlight linear and turning locomotion.
