Software robots is an emerging robotic field. It is enlightened by biological learning, using a structure in which flexible, prolongable material is combined.
God horse is a soft robot?
Software robots is an emerging robotic field. It is enlightened by biological learning, using a structure in which flexible, prolongable material is combined. Many animal plants have flexible, elastic body structures to adapt to the environment they are. These natural biological systems inspire us in the development of software robots, with this carefully designed part geometry allows us to "pre-program" processing on complex movements - utilize the characteristics of flexible elastic material itself. Compared to traditional rigid robots, the mechanical structure made of flexible materials, matching intelligent processing makes designers to simplify more complex mechanisms and software controls. Software robots are born to be born in multiple fields and the environment. The more typical use is, they are ideal for human-computer interaction, helping humans for daily activities, and treat minimally invasive surgery.
So what is the god horse is a soft robot set?
Software Robot Sets a plurality of shared resources to help users design, production, model, personalize and control software robotics. The set is designed as part of the teaching research, hosted by Harvard University Biological Design Laboratory. The ultimate goal of the set is to expand the field of software robots, so that designers and researchers can perform research in this regard. The set includes an open source fluid control panel, describing the detail technical documentation of all parties (including electric actuators and sensors), and related documents that can be downloaded for design, production, and operations. Using low-cost raw materials and increasingly mature rapid forming techniques (such as 3D printers, laser cutting machines, CNC machines, etc.), this set can be simplified and economically.
On the shell structure, the software robot is mainly divided into three layers.
Internally encountered pressure, the soft robot will be curled.
With it, it can knead the wine bottle.
Here is a video:
After reading these exciting snippet, Xiaobian came to explain its working principle.
The first is the shape of the shape and structure. If you use a rigid material at the beginning, even if the subsequent procedures do, how flexible mechanical structure is rotated, it is impossible to produce so delicate action. You know, even the flesh of the human itself is soft. In this regard, the soft robot is made of cheap and light, light, and other inexpensive materials. Moreover, after the mold is used, it can also be formed quickly. Compared to traditional robots, production speed is accelerated. In terms of application, it can better imitate the heart, muscles, produce products such as artificial heart, simulating human hand gloves, and has the function and power like the sample.
Then, it is the principle of deformation. Because of the use of flexible materials, there is no need for joints, screws, and gear these punk eras, and replaced is a simpler structure-fluid pressure system. Its principle is like people blowing in the birthday party, just falling over - the pressure is increased, and the pressure is revoked. To do this, you will have a non-extendable portion on the housing structure. When the outer ring of the machine can be extended, while the inner ring is not extended, it will naturally be curled under the action of pressure.
The rotation to the control system. The pipeline of several spiral distributions on the body can control different motion gestures of the soft robot as long as the pressure difference between the arctors is controlled, or the pressure difference between the different pipelines can be controlled. Plus the help of the pressure and action sensor, it feeds back the information control pump, valve, and the like to achieve functionality such as physical control. With a mention, the sensor used is also a flexible sensor, and the soft robot will not touch the feeling of sand.
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So what is the main components in the soft robot suite?
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Pneumatic curved network driver
This is a Harvard University original product. It is mainly composed of artificial rubber, full of a series of airbags and channels, generating shrinkage and diastolic actions when inflatable. The expansion of the soft robot is determined by the inside of the airbag and the passage. When the gas is constantly compressed, it will reach the maximum size limit value. Of course, designers can "pre-program" - that is, change the internal arrangement structure or tube wall thickness to achieve the action they want. With different materials, the type of action can also be increased (the result of the expansion coefficient when the force of different materials is used, and the difference between the Kark's law f = kx in the secondary school, which produces such as a torsion, Hardcore contraction and other effects.
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2. Fiber drive
This is also the original product of Harvard University, the purpose is to limit the rubber airbag to a certain shape, and the material of the inner layer is like a balloon. When it is pressed into the gas, it expands as much as possible. When the fiber holder is added, it can only expand horizontally, no longer unable to extends. When the different expansion coefficient material mentioned above is added as the bottom plate, it can produce the effect of the curl distortion.
They have a thousand autumn in comparison of two drivers. On the action, the fiber drive is fine because there is a slit between the structures, which is equivalent to the effect of the joint, and the action is more diverse, and the pneumatic drive can only complete a single overall action, and the segmentation is weak. However, making such a fiber drive process is more troublesome than a pneumatic drive. Later, the latter does not need to be completed in the case of 3D printing, while the former needs to be up to five days, and 6 molds should be used.
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3. Pneumatic man muscles
McKibben pneumatic muscles have been invented in the 1950s, used in medical correction purposes. Light weight, easy to make, self-limiting (that is, there is a maximum shrinkage size), and the muscle curved curve similar to human beings. Structurally, there is an expandable bracket or pipe in the net, both ends are sealed. When the internal stent is inflated, the periphery can be bundled into a linear expansion direction in the peripheral radiant expansion direction.
Artificial muscles can have a maximum of 25% of the extended rate, some special models can even be 40%. Although they are designed to be used as extended applications, it is actually not large, which is likely to cause muscle deformation curvature. (It is mechanical fatigue)
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4.SDM finger
The integrated technology (SDM) is a rapid prototype production, which puts all components together simultaneously together, using a process including a drill hole, a mosaic. Here, it is molded with all sensors, motors, supports, etc. at a time. The robotic fingers thus produced have a broad field of use and the smoothness of action, and can accomplish actions such as picking up basketball and opening the door using the key.
5. Dielectric elastomer actuator
It consists of an electrically activated polymer. Under the action of the electric field (such as an insertion electrode between two layers of polymer), these polymers produce a variable. In the action, it is like the adjustable capacitors (equal to changing the electrode pair area), so it is also used to generate electrical energy. Now it can generate energy can light LED bulbs.
6.EGAIN sensor
These sensors utilize the deformation data of the liquid metal (indium gallium eutectic alloy, also known as EGAIN) within a deformable microtube. When deformed, changes in geometric structures will result in its resistance changes. (It is physically physically, the smaller the conductor, the smaller the resistance, and the liquid metal can be deformed, plasticity.) Get a variable resistance change, it can calculate the state of the human formation of the soft body.
7.Takktile sensor
Takktile sensor is not expensive, high sensitivity, easy to make, working principle based on microelectronic air pressure gauge, has a closed air chamber to produce a signal. It can detect from one to dozens of touches, and it is easy to nested into the rubber structure. The advanced Takktile sensor can even withstand the pressure of up to 25 pounds (11 kg).
8. Fluid control board
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The fluid control panel of the software robot is an open source that can control the pneumatic drive and the fiber drive. This part is mainly used for teaching purposes, so that students can quickly control the action of the software robot.
The control panel includes a pump (pumped or pumped fluid) and a set of solenoid valves (for switches to control fluid in the inflow system). The control panel can be manually controlled (it is turning on the switch and valve) or using the Arduino controller to automatically program control.
In the video, you can know that the robot arm produces a variable by pressure, which in turn has a movement required for human beings, such as grab, smashed, spiral advancement, and the like. Weakly said that it is quite suitable for "daily necessities", the big supplies store owner should understand?
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