1 Department of Mechanical Engineering, Tokyo Institute of Technology , Tokyo, Japan .
2 School of Engineering and Applied Science, Harvard University , Cambridge, Massachusetts.
Soft Robot. 2018 Aug;5(4):399-409. doi: 10.1089/soro.2017.0097. Epub 2018 Apr 19.
This article presents the development of modular soft robotic wrist joint mechanisms for delicate and precise manipulation in the harsh deep-sea environment. The wrist consists of a rotary module and bending module, which can be combined with other actuators as part of a complete manipulator system. These mechanisms are part of a suite of soft robotic actuators being developed for deep-sea manipulation via submersibles and remotely operated vehicles, and are designed to be powered hydraulically with seawater. The wrist joint mechanisms can also be activated with pneumatic pressure for terrestrial-based applications, such as automated assembly and robotic locomotion. Here we report the development and characterization of a suite of rotary and bending modules by varying fiber number and silicone hardness. Performance of the complete soft robotic wrist is demonstrated in normal atmospheric conditions using both pneumatic and hydraulic pressures for actuation and under high ambient hydrostatic pressures equivalent to those found at least 2300 m deep in the ocean. This rugged modular wrist holds the potential to be utilized at full ocean depths (>10,000 m) and is a step forward in the development of jointed underwater soft robotic arms.
本文提出了一种模块化软机器人腕关节机构，用于在恶劣的深海环境中进行精细和精确的操作。该腕关节由旋转模块和弯曲模块组成，可与其他执行器结合作为完整的机械手系统的一部分。这些机构是为通过潜水器和远程操作车辆进行深海操作而开发的一系列软机器人执行器的一部分，旨在用水压进行液压驱动。腕关节机构也可以通过气压进行激活，用于地面应用，例如自动化装配和机器人运动。在这里，我们通过改变纤维数量和硅酮硬度来报告一系列旋转和弯曲模块的开发和特性。在正常大气条件下，使用气压和水压进行驱动，并在高环境静水压力下（相当于至少 2300 米深海中的压力），演示了完整的软机器人腕关节的性能。这种坚固的模块化手腕具有在全海洋深度（>10000 米）使用的潜力，是关节水下软机器臂发展的一个进步。
