用于软体机器人的频率控制流体振荡器。
Frequency-Controlled Fluidic Oscillators for Soft Robots.
作者信息
Mousa Mostafa, Rezanejad Ashkan, Gorissen Benjamin, Forte Antonio E
机构信息
Department of Engineering, King's College London, Strand, London, WC2R2LS, UK.
Department of Mechanical Engineering, KU Leuven, Celestijnenlaan 300, Leuven, 3000, Belgium.
出版信息
Adv Sci (Weinh). 2024 Nov;11(43):e2408879. doi: 10.1002/advs.202408879. Epub 2024 Oct 8.
Electronic-free controls have recently emerged as one of the main topics in soft robotics. However, electronic-free fluidic circuits still lack controllability and reconfigurability to achieve different functions. Here, reconfigurable pneumatic valves that widen the design space of fluidic circuits are presented. The significance of two parameters on the valve's operation: a pre-defined manufacturing parameter that sets the initial operational range of the valve, and a second, on-the-fly modifiable geometric parameter that shifts the behavior of the valve during operation is shown. It is demonstrated that equipping the valve with these reconfigurable features enables the tuning of fluidic oscillatory circuits as illustrated by two examples: a frequency-controlled relaxation oscillator and a reconfigurable ring oscillator. The relaxation oscillator is employed to control the actuation frequency of a soft hopper, which is able to achieve 80 to 125 hops min and a hopping speed ranging from ≈1 to ≈1.185 BL s. Additionally, the reconfigurable ring oscillator is used to demonstrate how each output frequency can be controlled independently, via a soft robotic crawler that can navigate in three directions, and a volume-controlled fluidic pump able to achieve mixing of solutions in environments where electronic components cannot operate.
无电子控制最近已成为软机器人技术的主要主题之一。然而,无电子流体电路仍然缺乏实现不同功能所需的可控性和可重构性。在此,我们展示了可重构气动阀,它拓宽了流体电路的设计空间。文中展示了两个参数对阀门运行的重要性:一个预定义的制造参数,它设定了阀门的初始工作范围;另一个是在运行过程中可实时修改的几何参数,它会改变阀门的运行特性。结果表明,为阀门配备这些可重构特性能够实现对流体振荡电路的调谐,文中通过两个示例进行了说明:一个频率控制的张弛振荡器和一个可重构环形振荡器。张弛振荡器用于控制软料斗的驱动频率,该软料斗能够实现每分钟80至125次跳跃,跳跃速度范围约为1至1.185体长/秒。此外,可重构环形振荡器用于展示如何通过一个能够在三个方向上导航的软机器人履带以及一个能够在电子元件无法运行的环境中实现溶液混合的容积控制流体泵来独立控制每个输出频率。