论文标题
赫德拉：由多面体平行模块的生物启发的模块化张力软机器人
HEDRA: A Bio-Inspired Modular Tensegrity Soft Robot With Polyhedral Parallel Modules
论文作者
论文摘要
在紧张的机器人技术领域中，研究兴趣激增。在此范式下开发的机器人提供了许多优势，并且在结构合规性，敏捷性，安全性和减轻体重方面具有明显的特征。本文提出了一种基于紧张（“张力融合”）机器人和可重新配置的模块化机器人的新机器人机制。提出了这种具有多个自由度的张力机器人的特定驱动方案。本文介绍了一个易于组装的350毫米基于紧张的机器人原型，它通过堆叠了一系列与无直接刚性接触的紧张接触相关的刚性支撑杆。通过将多面体平行结构整合为骨骼和一系列紧张的接头，通过实验结果验证了所提出的机器人的功能。所提出的操纵器能够达到高达76度的弯曲角度。自适应电缆驱动的机器人抓手驱动不足的机器人抓手设计并连接到紧张的操纵器上，以抓住不同形状，重量和尺寸的物体。
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight reduction. This paper proposes a new robotic mechanism based on tensegrity ('tension-integrity') robots and reconfigurable modular robots. The specific actuation schemes for this tensegrity robot with multiple degrees of freedom are presented. This article describes an easy-to-assemble 350 mm tensegrity based robot prototype by stacking a series of rigid struts linked with tensegrity joints that have no direct rigid contact with each other. The functionality of the proposed robot is validated by the experimental results by integrating the polyhedral parallel structure as its skeleton and series of tensegrity joints. The proposed manipulator is capable of reaching bending angles up to 76 degrees. An adaptive cable driven underactuated robotic gripper is designed and attached to the tensegrity manipulator for grasping objects in different shapes, weights, and sizes.
