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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Meshworm: A Peristaltic Soft Robot With Antagonistic Nickel Titanium Coil Actuators
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Meshworm: A Peristaltic Soft Robot With Antagonistic Nickel Titanium Coil Actuators

机译：网格蠕虫：带有对角镍钛线圈驱动器的蠕动软机器人

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摘要

This paper presents the complete development and analysis of a soft robotic platform that exhibits peristaltic locomotion. The design principle is based on the antagonistic arrangement of circular and longitudinal muscle groups of Oligochaetes. Sequential antagonistic motion is achieved in a flexible braided mesh-tube structure using a nickel titanium (NiTi) coil actuators wrapped in a spiral pattern around the circumference. An enhanced theoretical model of the NiTi coil spring describes the combination of martensite deformation and spring elasticity as a function of geometry. A numerical model of the mesh structures reveals how peristaltic actuation induces robust locomotion and details the deformation by the contraction of circumferential NiTi actuators. Several peristaltic locomotion modes are modeled, tested, and compared on the basis of speed. Utilizing additional NiTi coils placed longitudinally, steering capabilities are incorporated. Proprioceptive potentiometers sense segment contraction, which enables the development of closed-loop controllers. Several appropriate control algorithms are designed and experimentally compared based on locomotion speed and energy consumption. The entire mechanical structure is made of flexible mesh materials and can withstand significant external impact during operation. This approach allows a completely soft robotic platform by employing a flexible control unit and energy sources. $^{bf 1}$
机译：本文介绍了具有蠕动运动的软机器人平台的完整开发和分析。设计原理基于Oligochaetes圆形和纵向肌肉群的对立排列。在柔性编织网状管结构中，使用围绕圆周缠绕成螺旋状的镍钛（NiTi）线圈致动器，可以实现顺序的对抗运动。 NiTi螺旋弹簧的增强理论模型描述了马氏体变形和弹簧弹性作为几何函数的组合。网格结构的数值模型揭示了蠕动如何引起鲁棒的运动，并通过周向NiTi致动器的收缩详细描述了变形。根据速度对几种蠕动运动模式进行建模，测试和比较。利用沿纵向放置的其他NiTi线圈，可整合转向能力。本体感受电位器可感应段收缩，从而可以开发闭环控制器。设计了几种合适的控制算法，并根据运动速度和能耗进行了实验比较。整个机械结构由柔性网状材料制成，在操作过程中可以承受很大的外部冲击。这种方法通过采用灵活的控制单元和能源，可以提供一个完全软的机器人平台。 $ ^ {bf 1} $

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