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首页> 外文会议>IEEE International Conference on Soft Robotics >Extending the reach of single-chamber inflatable soft robots using Magnetorheological Fluids
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Extending the reach of single-chamber inflatable soft robots using Magnetorheological Fluids

机译：使用磁流变流体延伸单室充气软机器人

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Elastomer based, fabric-reinforced, inflatable soft robots bend when inflated because the fabric-reinforced section has negligible strain compared to the unreinforced section. The inherent displacement mismatch will cause the robot to stretch in the manner of a bi-metallic strip. Using a similar principle, we alter the inflation-dependent motion of various fabric reinforced soft robots by changing the stiffness of different regions of their chamber walls. A concatenated workspace volume of these many robots presents an increase in volume by a factor of six when compared to a robot of uniform rubber composition. A finite element method for a magnetically responsive truss demonstrates an increase in stiffness twofold from a magnetic field strength of 0.01 Tesla to a field strength of 0.02 Tesla. It is postulated that by utilizing these magnetically activated truss configurations as channels within silicone rubber, a fabric-reinforced robot will be able to move about a workspace of similar size by varying magnetic field strength along with the inflation pressure.
机译：弹性体基，织物加固，充气软机器弯曲时弯曲，因为与未合成的部分相比，织物增强部分具有可忽略的菌株。固有的位移不匹配将导致机器人以双金属条带的方式伸展。使用类似的原理，我们通过改变其室壁的不同区域的刚度来改变各种织物增强软机器的通胀依赖性运动。与均匀橡胶组合物的机器人相比，这些许多机器人的连接工作空间容积呈六倍倍。用于磁响应桁架的有限元方法表明，从0.01特斯拉的磁场强度的刚度两倍的增加，距离磁场强度为0.02特斯拉的场强。假设它通过利用这些磁激活桁架配置作为硅橡胶内的通道，织物增强机器人将能够通过改变磁场强度以及充气压力来移动相似尺寸的工作空间。

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