Soft Mobile Robots with On-Board Chemical Pressure Generation

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• 关键词：Soft robotics ; Fluidic elastomer actuators ; Chemical pressure generation ; Distributed actuation ; Smart materials
• 刊名：Springer Tracts in Advanced Robotics
• 出版年：2017
• 出版时间：2017
• 年：2017
• 卷：100
• 期：1
• 页码：525-540
• 全文大小：687 KB
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• 作者单位：Cagdas D. Onal (5)
  Xin Chen (6)
  George M. Whitesides (6)
  Daniela Rus (5)
  
  5. Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA
  6. Department of Chemistry and Chemical Biology, Harvard University, Cambridge, MA, USA
  
• 丛书名：Robotics Research
• ISBN：978-3-319-29363-9
• 刊物类别：Engineering
• 刊物主题：Automation and Robotics
  Control Engineering
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1610-742X
• 卷排序：100

文摘

We wish to develop robot systems that are increasingly more elastic, as a step towards bridging the gap between man-made machines and their biological counterparts. To this end, we develop soft actuators fabricated from elastomer films with embedded fluidic channels. These actuators offer safety and adaptability and may potentially be utilized in robotics, wearable tactile interfaces, and active orthoses or prostheses. The expansion of fluidic channels under pressure creates a bending moment on the actuators and their displacement response follows theoretical predictions. Fluidic actuators require a pressure source, which limits their mobility and mainstream usage. This paper considers instances of mechanisms made from distributed elastomer actuators to generate motion using a chemical means of pressure generation. A mechanical feedback loop controls the chemical decomposition of hydrogen peroxide into oxygen gas in a closed container to self-regulate the actuation pressure. This on-demand pressure generator, called the pneumatic battery, bypasses the need for electrical energy by the direct conversion of chemical to mechanical energy. The portable pump can be operated in any orientation and is used to supply pressure to an elastomeric rolling mobile robot as a representative for a family of soft robots.