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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Design, Modeling, and Control of a 3D Printed Monolithic Soft Robotic Finger With Embedded Pneumatic Sensing Chambers
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Design, Modeling, and Control of a 3D Printed Monolithic Soft Robotic Finger With Embedded Pneumatic Sensing Chambers

机译：用嵌入式气动传感室的3D印刷单片软机械手指的设计，建模和控制

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摘要

This article presents a directly 3-D printed soft monolithic robotic finger with embedded soft pneumatic sensing chambers (PSC) as position and touch sensors. The monolithic finger was fabricated using a low-cost and open-source fused deposition modeling 3-D printer that employs an off-the-shelf soft and flexible commercially available thermoplastic polyurethane. A single soft hinge with an embedded PSC was optimized using finite element modeling and a hyperelastic material model to obtain a linear relationship between the internal change in the volume of its PSC and the corresponding input mechanical modality, to minimize its bending stiffness and to maximize its internal volume. The soft hinges with embedded PSCs have several advantages, such as fast response to very small changes in their internal volume (similar to 0.0026ml/degrees), linearity, negligible hysteresis, repeatability, reliability, long lifetime, and low power consumption. Also, the flexion of the soft robotic finger was predicted using a geometric model for use in real-time control. The real-time position and pressure/force control of the soft robotic finger were achieved using feedback signals from the soft hinges and the touch PSC embedded in the tip of the finger. This article contributes to the development of seamlessly embedding optimized sensing elements in the monolithic topology of a soft robotic system and controlling the robotic system using the feedback data provided by the sensing elements to validate their performance.
机译：本文介绍了一种直接的3-D印刷软单片机械手指，嵌入式软充气传感室（PSC）为位置和触摸传感器。使用低成本和开源熔融沉积建模3-D打印机制造整体手指，该打印机采用储物柔软和柔性的市售热塑性聚氨酯。使用有限元建模和高速材料模型优化了具有嵌入式PSC的单个软铰链，以获得其PSC体积和相应输入机械模态的内部变化之间的线性关系，以最大限度地减少其弯曲刚度并最大化其内部体积。具有嵌入式PSC的软铰链具有几个优点，例如快速响应其内部容积的非常小的变化（类似于0.0026ml /度），线性度，可忽略不计的滞后，可重复性，可靠性，长寿命和低功耗。而且，使用用于实时控制的几何模型预测软机械手指的屈曲。使用来自柔软铰链的反馈信号和嵌入手指尖端的触摸PSC来实现软机器人手指的实时位置和压力​​/力控制。本文有助于开发在软机器人系统的单片拓扑中无缝嵌入优化的传感元素，并使用感测元件提供的反馈数据控制机器人系统来验证其性能。

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