A TMP ORIGAMI-SHELL REINFORCED BISTABLE SOFT ROBOT
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摘要:软体机器人在复杂非结构化环境探索搜救等方面展现出了良好的应用潜力, 但仍存在运动速度较慢、软体结构易受损等问题亟需解决. 基于此, 提出了一种TMP (Tachi-Miura polyhedron)折纸防护的双稳态软体机器人. 软体脊柱、拉簧和TMP折纸外壳组成双稳态系统, 由气压驱动突破双稳态系统的两个能量壁垒, 实现双稳态之间的切换, 并通过快速储存和释放能量驱动软体机器人快速运动. TMP折纸作为软体机器人的外壳, 可为其提供防护, 预防外界坚硬锋利介质刺破软体脊柱; 此外, 其在运动过程中的应变能对软体机器人的双稳态能量势阱具有较大贡献. 结合材料拉伸实验和商用软件中的本构参数拟合法, 确定了软体脊柱材料本构模型参数. 探究了软体脊柱弯曲角度与驱动气压之间的量化关系, 并提出了基于分段常曲率法的软体机器人运动学建模方法. 开展了系列实验测试, 发现所提软体机器人通过图钉模拟的极端环境时仍能正常运动, 在平地上平均速度达到1.81 BLs −1, 其质量−运动速度关系图位于软体机器人和刚性机器人的交叉区域, 属于刚−软耦合机器人. 此外, 证实了所提软体机器人在石子路、泥泞地、浅水沟、浅草地和深水池复杂非结构化环境快速运动能力.Abstract:Soft robots have exhibited promising application potential in complex unstructured environments such as exploration and search and rescue. However, challenges such as slow movement speed and vulnerable soft structures still need to be tackled. To this end, this paper proposes a Tachi-Miura polyhedron (TMP) origami-shell reinforced bistable soft robot to address the abovementioned challenges. The bistable system consists of soft bodies spine, tension spring, and TMP origami shell, driven by air pressure to break through the two energy potential barriers of the bistable system, to switch between bistable states and to drive the soft robot to fast movement by rapidly storing and releasing energy. TMP origami can be regarded as a protective shell for soft robots to prevent hard and sharp media from piercing the soft body; in addition, its strain energy during movement contributes significantly to the bistable energy potential wells of soft robots. The constitutive model parameters of silicone rubber, constructed soft body, are identified by combining the material tensile experiments and the fitting of the constitutive model parameters in commercial software. The quantitative relationship between the soft body and the driving air pressure is explored, and a soft robot kinematic model based on the segmented constant curvature method is presented. A series of experimental tests were carried out, finding that the proposed soft robot could still move normally when passing through the extreme environments simulated by the pushpins. It can reach an average speed of 1.81 BL/s on flat ground, with its mass-motion velocity relationship graph located in the intersection region of the soft and rigid robots. Thus, the proposed TMP origami-shell reinforced bistable soft robot can be classified as a rigid-soft coupled robot. In addition, the proposed soft-bodied robot’s ability to move rapidly in complex unstructured environments on stone roads, muddy ground, gutter ways, grassland, and pools has been confirmed.
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图 1TMP折纸防护双稳态软体机器人整体结构设计
Figure 1.Design of TMP origami-shell reinforced bistable soft robot
图 5TMP折纸外壳设计: (a)二维单胞; (b)二维折痕图设计; (c)TMP折纸结构; (d)TMP折纸外壳
Figure 5.Design of TMP origami-shell: (a) 2D unit cell; (b) Design of 2D crease pattern; (c) TMP origami structure; (d)TMP origami-shell
图 9TMP折纸防护双稳态软体机器人样机
Figure 9.Prototype of TMP origami-shell reinforced bistable soft robot
图 13不同气压驱动下软体脊柱变形形态(上: 实验, 下: 仿真) (续)
Figure 13.Deformation form of soft spine in different pressure (top: experiment, bottom: simulation) (continued)
图 18利用运动学模型和实验研究软体机器人运动位移(续)
Figure 18.Kinematic displacement study of soft robot by kinematic model and experiment (continued)
图 21TMP折纸防护软体机器人质量−运动速度图
Figure 21.Mass-speed chart of TMP origami-shell reinforced soft robot
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