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首页> 外文期刊>IEEE Transactions on Robotics >Customizable Three-Dimensional-Printed Origami Soft Robotic Joint With Effective Behavior Shaping for Safe Interactions
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Customizable Three-Dimensional-Printed Origami Soft Robotic Joint With Effective Behavior Shaping for Safe Interactions

机译：可定制的三维打印折纸软机器人关节，具有有效的行为整形功能，可实现安全的交互

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摘要

Fast-growing interests in safe and effective robot-environment interactions stimulated global investigations on soft robotics. The inherent compliance of soft robots ensures promising safety features but drastically reduces force capability, thereby complicating system modeling and control. To tackle these limitations, a soft robotic joint with enhanced strength, servo performance, and impact behavior shaping is proposed in this paper, based on novel three-dimensional-printed soft origami rotary actuators. The complete workflow is presented from the concept of origami design and analytical modeling, joint design, fabrication, control, and validation experiments. The proposed approach facilitates a fully customizable joint design towards the desired force capability and motion range. Validation results from models and experiments using multiple fabricated prototypes proved the excellent performance linearity and superior force capability, with 18.5-N.m maximum torque under 180 kPa, and 300-g self-weight. The behavior shaping capability is achieved by a low-level joint-angle servo and a high-level variable-stiffness regulation; this significantly reduces the impact torque by 53% and ensures powerful and safe interactions. The comprehensive guidelines provide insightful references for soft robotic design for wider robotic applications.
机译：对安全有效的机器人与环境交互的兴趣迅速增长，激发了对软机器人技术的全球研究。软机器人的固有兼容性确保了有希望的安全功能，但大大降低了受力能力，从而使系统建模和控制变得复杂。为了解决这些局限性，本文基于新型三维打印的软折纸旋转执行器，提出了一种具有增强的强度，伺服性能和冲击行为整形的软机器人关节。完整的工作流从折纸设计和分析建模，联合设计，制造，控制和验证实验的概念中提出。所提出的方法有助于针对所需的力能力和运动范围的完全可定制的关节设计。使用多个制造的原型进行的模型和实验的验证结果证明了出色的性能线性和出色的受力能力，在180 kPa下的最大扭矩为18.5-N.m，自重为300g。行为整形能力是通过低级关节角伺服和高级别可变刚度调节来实现的；这可将冲击扭矩显着降低53％，并确保强大而安全的相互作用。全面的指南为更广泛的机器人应用中的软机器人设计提供了有见地的参考。

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