Cooperative antagonistic mechanism driven by bidirectional pneumatic artificial muscles for soft robotic joints
MECHATRONICS(2024)
摘要
Actuators and mechanisms are the most important components of soft robots. In this study, we introduce a novel actuator capable of bidirectional force transmission, and an antagonistic structural pair mechanism that can cooperate with actuators. A tendon that runs through the interior of the actuator allows bidirectional force transmission. Each contraction and expansion can produce 124.46 N and 122.80 N of force, and maximum contraction and expansion ratios of 75.1% and 402.1%, respectively. However, a cooperative antagonistic mechanism that can transmit force in the pushing direction using a soft frame and a closed-loop tendon has also been developed. Remarkably, it exhibits 2.58 times the lumped torque density compared to a traditional antagonistic mechanism. When integrated into a robotic arm, this mechanism enables the arm to lift a 2 kg object by 117 degrees on a 30 cm moment arm. The robotic arm itself is efficiently designed, with a 340 mm upper arm and a 300 mm forearm, maintaining a lightweight structure at just 380 g.
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关键词
Bidirectional,Pneumatic artificial muscle,Cooperative mechanism,Antagonistic mechanism,Soft robot
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