Zhou Haiqin, Cao Shunze, Zhang Shuailong, Li Fenggang, Ma Nan
Department of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.
Department of Engineering Mechanics, Tsinghua University, Beijing, China.
Cyborg Bionic Syst. 2023;4:0010. doi: 10.34133/cbsystems.0010. Epub 2023 Mar 14.
Soft robotics have advantages over the traditional rigid ones to achieve the bending motion but face with challenges to realize the rapid and long-distance linear motion due to the lack of a suitable actuation system. In this paper, a new explosion-based soft robot is proposed to generate the axial fast extension by the explosion pressure. To support and predict the performance of this explosion-based soft robot, a novel dynamic model is developed by considering the change of working fluid (molecular numbers) and some unavoidable and influential factors in the combustion process. Then, based on the physical prototype, a set of experiments is conducted to test the performance of the explosion-based soft robot in performing the axial extensions, as well as to validate the model proposed in this article. It is found that the novel explosion-based soft robot can achieve rapid axial extension by the developed explosion-based actuation system. The explosion-based soft robot can achieve 41-mm displacement at a fuel mass of 180 mg. In addition, the proposed dynamic model can be validated with an average error of 1.5%. The proposed approach in this study provides a promising solution for future high-power density explosion-based soft robots.
与传统刚性机器人相比，软体机器人在实现弯曲运动方面具有优势，但由于缺乏合适的驱动系统，在实现快速、长距离直线运动方面面临挑战。本文提出了一种新型的基于爆炸的软体机器人，利用爆炸压力实现轴向快速伸展。为了支持和预测这种基于爆炸的软体机器人的性能，通过考虑工作流体的变化（分子数）以及燃烧过程中一些不可避免的影响因素，建立了一个新颖的动力学模型。然后，基于物理原型，进行了一系列实验，以测试基于爆炸的软体机器人在执行轴向伸展时的性能，并验证本文提出的模型。结果发现，新型的基于爆炸的软体机器人可以通过开发的基于爆炸的驱动系统实现快速轴向伸展。在燃料质量为180毫克时，基于爆炸的软体机器人可以实现41毫米的位移。此外，所提出的动力学模型可以得到验证，平均误差为1.5%。本研究中提出的方法为未来高功率密度的基于爆炸的软体机器人提供了一个有前景的解决方案。
