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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Rotary Microspine Rough Surface Mobility
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Rotary Microspine Rough Surface Mobility

机译：旋转式微脊柱表面流动性

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摘要

The Jet Propulsion Laboratory is developing a class of lightweight, highly mobile, crash-proof robots for reconnaissance and security applications. Arrays of independently compliant rotary microspines are used to build wheels that enable the robots to climb stairs, mount curbs, and climb rough vertical walls. This study presents many improvements to the rotary microspine wheels and several new configurations of the robotic platforms, including miniaturized robots weighing less than 10 g. New microspine flexure materials are presented including viscoelastic flexures that dampen the impact of individual hook elements, and mass-manufacturable microspines made using a single cast process over steel wire in place of elastic flexures. Rapid iteration of microspine designs was done using shape deposition manufacturing and a single-wheeled test robot. This process allowed new wheel concepts to go from design to testing in just three days. In addition, new configurations of robots with a powered wheel in the tail have improved reliability and demonstrated new capabilities like climbing heavily painted curbs, climbing stairs with overhanging face angles, and vertical climbing of concrete block buildings as tall as six stories. These results are presented in this paper and in the accompanying video.
机译：喷气推进实验室正在开发一种用于侦察和安全应用的轻型，高度移动，防撞机器人。阵列使用独立适应的旋转式微脊柱来制造轮子，使机器人能够爬楼梯，安装路缘石和攀登粗糙的垂直墙。这项研究提出了对旋转微棘轮的许多改进以及机器人平台的几种新配置，包括重量小于10 g的小型机器人。提出了新的微脊挠曲材料，包括可减轻单个钩形元件冲击的粘弹性挠曲，以及在钢丝上用一次浇铸工艺代替弹性挠曲制成的可批量生产的微脊柱。使用形状沉积制造和单轮测试机器人完成了微脊柱设计的快速迭代。这一过程使新的车轮概念从设计到测试只需三天。此外，尾部带有动力轮的机器人的新配置提高了可靠性，并展示了新功能，例如爬上粉刷过的路缘石，爬上悬垂面角的楼梯以及垂直爬升六层楼高的混凝土砌块建筑。这些结果将在本文和随附的视频中介绍。

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