检索结果-内蒙古大学图书馆

Conference on Electroactive Polymer Actuators and Devices (EAPAD) XXVI

作者： Kunze, J. Soleti, G. Bruch, D. Motzki, P. Nalbach, S. Seelecke, S. Rizzello, G. ZeMA Zentrum Mechatron & Automatisierungstech gGm Saarbrucken Germany iMSL Intelligent Mat Syst Lab Saarbrucken Germany

ISBN: (数字)9781510671973

ISBN: (纸本)9781510671973;9781510671966

soft robotic technology offers the potential for enhanced safety in human-robot collaboration. Our research introduces a compact robotic arm segment, actuated by silicone-based rolled dielectric elastomer actuators (RDEAs), in combination with a ball joint, showcasing large-angle multi-directional bending. A simplified kinematic, quasistatic model is presented. The segment was built utilizing PCBs as structural components a custom, low friction ball joint, and 3 groups of 3 RDEAs. Two different modes of operation are identified in the model as well as in experiments. One mode with smaller bending angles of 0 degrees to 7 degrees, and one mode with a larger, but constant angle of 25 degrees. The results demonstrate significant bending capabilities in a compact form-factor, laying the foundation for the development of multi-segment RDEA-actuated soft robotic tentacle arms.

关键词： soft robotic Electroactive Polymer EAP Dielectric Elastomer Actuator DEA Rolled Dielectric Elastomer Actuators RDEA Bending

来源：评论

学校读者我要写书评

暂无评论

Heterogeneous multiple soft millirobots in three-dimensional lumens

引用

SCIENCE ADVANCES 2024年第45期10卷 eadq1951页

作者： Wang, Chunxiang Wang, Tianlu Li, Mingtong Zhang, Rongjing Ugurlu, Halim Sitti, Metin Max Planck Inst Intelligent Syst Phys Intelligence Dept D-70569 Stuttgart Germany ETH Dept Informat Technol & Elect Engn CH-8092 Zurich Switzerland Univ Hawaii Manoa Dept Mech Engn Honolulu HI 96822 USA Zentrum Radiol Heilbronn D-74177 Heilbronn Germany Koc Univ Sch Med TR-34450 Istanbul Turkiye Koc Univ Coll Engn TR-34450 Istanbul Turkiye

Miniature soft robots offer opportunities for safe and physically adaptive medical interventions in hard-to-reach regions. Deploying multiple robots could further enhance the efficacy and multifunctionality of these operations. However, multirobot deployment in physiologically relevant three-dimensional (3D) tubular structures is limited by the lack of effective mechanisms for independent control of miniature magnetic soft robots. This work presents a framework leveraging the shape-adaptive robotic design and heterogeneous resistance from robot-lumen interactions to enable magnetic multirobot control. We first compute influence and actuation regions to quantify robot movement. Subsequently, a path planning algorithm generates the trajectory of a permanent magnet for multirobot navigation in 3D lumens. Last, robots are controlled individually in multilayer lumen networks under medical imaging. Demonstrations of multilocation cargo delivery and flow diversion manifest their potential to enhance biomedical functions. This framework offers a solution to multirobot actuation benefiting applications across different miniature robotic devices in complex environments.

关键词： Permanent magnets

来源：评论

学校读者我要写书评

暂无评论

Magnetically actuated gearbox for the wireless control of millimeter-scale robots

引用

SCIENCE roboticS 2022年第69期7卷 eabo4401页

作者： Hong, Chong Ren, Ziyu Wang, Che Li, Mingtong Wu, Yingdan Tang, Dewei Hu, Wenqi Sitti, Metin Max Planck Inst Intelligent Syst Phys Intelligence Dept D-70569 Stuttgart Germany Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Peoples R China Swiss Fed Inst Technol Inst Biomed Engn CH-8092 Zurich Switzerland Koc Univ Sch Med TR-34450 Istanbul Turkey Koc Univ Coll Engn TR-34450 Istanbul Turkey

The limited force or torque outputs of miniature magnetic actuators constrain the locomotion performances and functionalities of magnetic millimeter-scale robots. Here, we present a magnetically actuated gearbox with a maximum size of 3 millimeters for driving wireless millirobots. The gearbox is assembled using microgears that have reference diameters down to 270 micrometers and are made of aluminum-filled epoxy resins through casting. With a magnetic disk attached to the input shaft, the gearbox can be driven by a rotating external magnetic field, which is not more than 6.8 millitesla, to produce torque of up to 0.182 millinewton meters at 40 hertz. The corresponding torque and power densities are 12.15 micronewton meters per cubic millimeter and 8.93 microwatt per cubic millimeter, respectively. The transmission efficiency of the gearbox in the air is between 25.1 and 29.2% at actuation frequencies ranging from 1 to 40 hertz, and it lowers when the gearbox is actuated in viscous liquids. This miniature gearbox can be accessed wirelessly and integrated with various functional modules to repeatedly generate large actuation forces, strains, and speeds;store energy in elastic components;and lock up mechanical linkages. These characteristics enable us to achieve a peristaltic robot that can crawl on a flat substrate or inside a tube, a jumping robot with a tunable jumping height, a clamping robot that can sample solid objects by grasping, a needle-puncture robot that can take samples from the inside of the target, and a syringe robot that can collect or release liquids.

关键词： Magnetism

来源：评论

学校读者我要写书评

暂无评论

Versatile, modular, and customizable magnetic solid- droplet systems

引用

PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA 2024年第32期121卷 1页

作者： Sun, Mengmeng Wu, Yingdan Zhang, Jianhua Zhang, Hongchuan Liu, Zemin Li, Mingtong Wang, Chunxiang Sitti, Metin Max Planck Inst Intelligent Syst Phys Intelligence Dept D-70569 Stuttgart Germany Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China Koc Univ Sch Med TR-34450 Istanbul Turkiye Koc Univ Coll Engn TR-34450 Istanbul Turkiye

Magnetic miniature robotic systems have attracted broad research interest because of their precise maneuverability in confined spaces and adaptability to diverse environments, holding significant promise for applications in both industrial infrastructures and biomedical fields. However, the predominant construction methodology involves the preprogramming of magnetic components into the system's structure. While this approach allows for intricate shape transformations, it exhibits limited flexibility in terms of reconfiguration and presents challenges when adapting to diverse materials, combining, and decoupling multiple functionalities. Here, we propose a construction strategy that facilitates the on- demand assembly of magnetic components, integrating ferrofluid droplets with the system's structural body. This approach enables the creation of complex solid- droplet robotic systems across a spectrum of length scales, ranging from 0.8 mm to 1.5 cm. It offers a diverse selection of materials and structural configurations, akin to assembling components like building blocks, thus allowing for the seamless integration of various functionalities. Moreover, it incorporates decoupling mechanisms to enable selective control over multiple functions, leveraging the fluidity, fission/fusion, and magneto- responsiveness properties inherent in the ferrofluid. Various solid- droplet systems have validated the feasibility of this strategy. This study advances the complexity and functionality achievable in small- scale magnetic robots, augmenting their potential for future biomedical and other applications.

关键词： soft robotics ferrofluid solid- droplet systems magnetically driven

来源：评论

学校读者我要写书评

暂无评论

Wireless flow-powered miniature robot capable of traversing tubular structures

引用

SCIENCE roboticS 2024年第88期9卷 eadi5155页

作者： Hong, Chong Wu, Yingdan Wang, Che Ren, Ziyu Wang, Chunxiang Liu, Zemin Hu, Wenqi Sitti, Metin Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Peoples R China Max Planck Inst Intelligent Syst Phys Intelligence Dept D-70569 Stuttgart Germany Beihang Univ Sch Mech Engn & Automat Beijing 100191 Peoples R China Swiss Fed Inst Technol Inst Biomed Engn CH-8092 Zurich Switzerland Hong Kong Univ Sci & Technol Dept Mech & Aerosp Engn Kowloon Hong Kong Peoples R China Max Planck Inst Intelligent Syst Bioinspired Autonomous Miniature Robots Grp D-70569 Stuttgart Germany Koc Univ Sch Med TR-34450 Istanbul Turkiye Koc Univ Coll Engn TR-34450 Istanbul Turkiye

Wireless millimeter-scale robots capable of navigating through fluid-flowing tubular structures hold substantial potential for inspection, maintenance, or repair use in nuclear, industrial, and medical applications. However, prevalent reliance on external powering constrains these robots' operational range and applicable environments. Alternatives with onboard powering must trade off size, functionality, and operation duration. Here, we propose a wireless millimeter-scale wheeled robot capable of using environmental flows to power and actuate its long-distance locomotion through complex pipelines. The flow-powering module can convert flow energy into mechanical energy, achieving an impeller speed of up to 9595 revolutions per minute, accompanied by an output power density of 11.7 watts per cubic meter and an efficiency of 33.7%. A miniature gearbox module can further transmit the converted mechanical energy into the robot's locomotion system, allowing the robot to move against water flow at an average rate of up to 1.05 meters per second. The robot's motion status (moving against/with flow or pausing) can be switched using an external magnetic field or an onboard mechanical regulator, contingent on different proposed control designs. In addition, we designed kirigami-based soft wheels for adaptive locomotion. The robot can move against flows of various substances within pipes featuring complex geometries and diverse materials. Solely powered by flow, the robot can transport cylindrical payloads with a diameter of up to 55% of the pipe's diameter and carry devices such as an endoscopic camera for pipeline inspection, a wireless temperature sensor for environmental temperature monitoring, and a leak-stopper shell for infrastructure maintenance.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

Passivity-Based Impedance Control of a Class of Nonlinear Actuators with Internal Dynamics

Passivity-Based Impedance Control of a Class of Nonlinear Ac...

引用

18th IEEE International Conference on Advanced Motion Control, AMC 2024

作者： Rizzello, Gianluca Massenio, Paolo Roberto Saarland University Department of Systems Enginering Saarbrücken Germany Polytechnic University of Bari Department of Electrical and Information Engineering Bari Italy

ISBN: (纸本)9798350342819

This paper presents an impedance control approach for a class of variable stiffness actuators with output nonlinearities and slow internal dynamics, representative for smart material transducers like shape memory alloys or ionic polymer-metal composites. The goal is to render in closed loop an arbitrary mechanical impedance with desired stiffness and damping properties, while also ensuring that the controlled actuator is passive with respect to its velocity-force interaction port. The problem is made challenging by the presence of nonlinearities, together with the fact that the control input does not allow instantaneous modulation of the actuator force/stiffness characteristics. Two different versions of the control law are proposed, i.e., a state feedback and an observer-based one. Numerical simulations show that the proposed approach can be used to effectively achieve motion control of actuated mechanical structures, while control laws that ignore the actuator dynamics may lead to instability. © 2024 IEEE.

关键词： State feedback

来源：评论

学校读者我要写书评

暂无评论

Closed Loop Positioning of a Dielectric Elastomer Actuator Driven by a Feedback-Controlled High Voltage Circuit

Closed Loop Positioning of a Dielectric Elastomer Actuator D...

引用

18th IEEE International Conference on Advanced Motion Control, AMC 2024

作者： Perri, Carmen Massenio, Paolo Roberto Naso, David Rizzello, Gianluca Polythecnic University of Bari Department of Electrical and Information Engineering Bari Italy Saarland University Department of Systems Engineering Saarbrücken Germany

ISBN: (纸本)9798350342819

This paper investigates the closed-loop positioning of a dielectric elastomer actuator (DEA) in which the high-voltage driving signal is generated by custom-developed electronics. The adopted driving circuit amplifies a 0 - 6 V input signal up to 0-3000 V at its output, but it introduces at the same time non-linearities and signal distortions which negatively affect the DEA actuation behaviour. A cascade control architecture is proposed to compensate for such effects and, in turn, achieve accurate motion control of the DEA. An inner voltage control loop is used to enhance the accuracy and bandwidth of the high-voltage circuit, while an outer position loop is designed by treating the controlled amplifier as a static gain. Three control architectures are then experimentally compared, in which the high-voltage command signal determined by the outer position controller is applied to the DEA via (i) the custom high-voltage circuit operating in open-loop;(ii) the custom high-voltage circuit operating with an inner voltage regulation loop;(iii) a commercially-available and bulky high-voltage amplifier. The obtained results show how the performance of (ii) is significantly closer to (iii) than to (i), thus demonstrating that our custom-developed electronic in combination with an inner voltage loop represents an effective means to develop accurate and cost-effective DEA motion control systems. © 2024 IEEE.

关键词： Cost effectiveness

来源：评论

学校读者我要写书评

暂无评论

Towards Sensorless Configuration Estimation in Multi-DoF soft robotic Structures Driven by Rolled Dielectric Elastomer Actuators

Towards Sensorless Configuration Estimation in Multi-DoF Sof...

引用

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Prechtl, Johannes Baltes, Matthias Kunze, Julian Seelecke, Stefan Rizzello, Gianluca Saarland Univ Dept Syst Engn Saarbrucken Germany

ISBN: (数字)9781665413084

ISBN: (纸本)9781665413084

soft robots have the potential to overcome some of the limitations of conventional, rigid manipulators, especially in those applications where safe interaction and high flexibility are required. One critical issue concerns the need for estimating the position, the configuration, or even the shape of the soft robot without introducing bulky external sensors. soft robots based on dielectric elastomers (DEs) offer a potential solution to this problem, due to their self-sensing feature. Thanks to self-sensing, the information on DE displacement can be estimated online via electrical measurements, performed simultaneously with high-voltage actuation, and used to potentially reconstruct the full configuration of the robot. This work presents a first investigation towards this system-level self-sensing concept, by choosing a bendable soft robotic module driven by rolled DE actuators as case study. An extended Kalman filter is implemented based on a physical model, and used to estimate the full module configuration via DE-level information only, i.e., the actuators lengths available through simple electrical measurements. The effectiveness of the architecture is evaluated by means of camera-based experiments, showing that an accurate and robust estimation of the system configuration variables can be effectively achieved.

关键词： Time-frequency analysis Uncertainty Shape Estimation soft robotics Robot sensing systems Dielectric measurement

来源：评论

学校读者我要写书评

暂无评论

Nonlinear Optimal Control of a soft robotic Structure Actuated by Dielectric Elastomer Artificial Muscles

Nonlinear Optimal Control of a Soft Robotic Structure Actuat...

引用

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Massenio, Paolo Roberto Prechtl, Johannes Naso, David Rizzello, Gianluca Polytech Univ Bari Dept Elect & Informat Engn Bari Italy Univ Saarland Dept Syst Engn Saarbrucken Germany

ISBN: (数字)9781665413084

ISBN: (纸本)9781665413084

In the field of soft robotics, Dielectric Elastomer Actuators (DEAs) represent a compact and efficient alternative to bulky pneumatic drives. Both soft robots and DEAs show highly nonlinear behaviours due to their intrinsic large deformations, making the design of dynamic controllers highly challenging. At present, the problem of position control of DEA soft robots has not yet been explored in the literature. In this paper, we directly account for the nonlinearities of a DEA-driven soft robotic structure using an Adaptive Dynamic programming (ADP) approach. We develop for the first time a closed-loop optimal controllers for position regulation of a DEA soft robot, by approximating the solution of the Hamilton-Jacobi-Bellman equation with Neural Networks (NNs). We extend an existing model-based ADP approach to deal also with asymmetric input constraints. Simulation studies asses the improvements in positioning performance of the proposed approach, in comparison to traditional strategies.

关键词： Adaptation models Simulation Optimal control Position control soft robotics Muscles Mathematical models

来源：评论

学校读者我要写书评

暂无评论

A Virtual 2D Tactile Array for soft Actuators Using Acoustic Sensing

A Virtual 2D Tactile Array for Soft Actuators Using Acoustic...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Wall, Vincent Brock, Oliver Tech Univ Berlin Robot & Biol Lab Berlin Germany Res Cluster Excellence Sci Intelligence Berlin Germany

ISBN: (数字)9781665479271

ISBN: (纸本)9781665479271

We create a virtual 2D tactile array for soft pneumatic actuators using embedded audio components. We detect contact-specific changes in sound modulation to infer tactile information. We evaluate different sound representations and learning methods to detect even small contact variations. We demonstrate the acoustic tactile sensor array by the example of a PneuFlex actuator and use a Braille display to individually control the contact of 29 x 4 pins with the actuator's 90 x 10mm palmar surface. Evaluating the spatial resolution, the acoustic sensor localizes edges in x- and y-direction with a root-meansquare regression error of 1.67mm and 0.0 mm, respectively. Even light contacts of a single Braille pin with a lifting force of 0.17N are measured with high accuracy. Finally, we demonstrate the sensor's sensitivity to complex contact shapes by successfully reading the 26 letters of the Braille alphabet from a single display cell with a classification rate of 88 %.

关键词： Learning systems Braille Sensitivity Force Two dimensional displays Robot sensing systems Acoustic arrays

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：