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Magnetic Assembly of Soft Robots with Hard Components

机译:具有硬质组件的软机器人的磁性组件

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摘要

This paper describes the modular magnetic assembly of reconfigurable, pneumatically actuated robots composed of soft and hard components and materials. The soft components of these hybrid robots are actuators fabricated from silicone elastomers using soft lithography, and the hard components are acrylonitrile-butadiene-styrene (ABS) structures made using 3D printing. Neodymium-iron-boron (NdFeB) ring magnets are embedded in these components to make and maintain the connections between components. The reversibility of these magnetic connections allows the rapid reconfiguration of these robots using components made of different materials (soft and hard) that also have different sizes, structures, and functions; in addition, it accelerates the testing of new designs, the exploration of new capabilities, and the repair or replacement of damaged parts. This method of assembling soft actuators to build soft machines addresses some limitations associated with using soft lithography for the direct molding of complex 3D pneumatic networks. Combining the self-aligning property of magnets with pneumatic control makes it possible for a teleoperator to modify the structures and capabilities of these robots readily in response to the requirements of different tasks.
机译:本文介绍了由软,硬组件和材料组成的可重构气动气动机器人的模块化磁性组件。这些混合机器人的软部件是使用软光刻技术由硅橡胶制成的执行器,硬部件是使用3D打印制成的丙烯腈-丁二烯-苯乙烯(ABS)结构。钕铁硼(NdFeB)环形磁体嵌入这些组件中,以建立并保持组件之间的连接。这些磁性连接的可逆性允许使用由不同材料(软和硬)制成的组件快速配置,这些组件也具有不同的尺寸,结构和功能;此外,它还加速了新设计的测试,新功能的探索以及损坏零件的维修或更换。组装软致动器以构建软机的这种方法解决了与使用软光刻技术直接成型复杂的3D气动网络相关的一些限制。将磁体的自对准特性与气动控制相结合,使远程操作人员可以根据不同任务的需要轻松修改这些机器人的结构和功能。

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  • 来源
    《Advanced Functional Materials》 |2014年第15期|2180-2187|共8页
  • 作者单位

    Department of Chemistry and Chemical Biology Harvard University 12 Oxford Street, Cambridge, MA, 02138, USA;

    Department of Chemistry and Chemical Biology Harvard University 12 Oxford Street, Cambridge, MA, 02138, USA;

    Department of Chemistry and Chemical Biology Harvard University 12 Oxford Street, Cambridge, MA, 02138, USA,Wyss Institute for Biologically Inspired Engineering Harvard University 60 Oxford Street, Cambridge, MA 02138, USA;

    Department of Chemistry and Chemical Biology Harvard University 12 Oxford Street, Cambridge, MA, 02138, USA;

    Department of Chemistry and Chemical Biology Harvard University 12 Oxford Street, Cambridge, MA, 02138, USA;

    Department of Chemistry and Chemical Biology Harvard University 12 Oxford Street, Cambridge, MA, 02138, USA;

    Department of Chemistry and Chemical Biology Harvard University 12 Oxford Street, Cambridge, MA, 02138, USA;

    Department of Chemistry and Chemical Biology Harvard University 12 Oxford Street, Cambridge, MA, 02138, USA;

    Department of Chemistry and Chemical Biology Harvard University 12 Oxford Street, Cambridge, MA, 02138, USA;

    Department of Chemistry and Chemical Biology Harvard University 12 Oxford Street, Cambridge, MA, 02138, USA,Wyss Institute for Biologically Inspired Engineering Harvard University 60 Oxford Street, Cambridge, MA 02138, USA;

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