论文标题
符合性细胞机器人的机械表征。第二部分：主动应变
Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain
论文作者
论文摘要
模块化活跃的单元机器人（宏）是一种设计方法，其中组装了大量的线性致动器和被动兼容的接头，以创建具有重复单位单元格的活动结构。这样的网状机器人结构可以被驱动以实现较大的变形和形状变化。在这篇分为两部分的论文中，我们使用有限元分析（FEA）来对不同宏网拓扑的变形行为进行建模，并评估其被动和主动的机械特性。在第1部分中，我们介绍了不同宏网格的被动刚度特性。现在，在本文的第2部分中，我们研究了平面宏网格的活动应变特征。使用FEA，我们量化和比较了为宏网拓扑的特定选择而产生的菌株，并进一步选择了在该特定网格中驱动的执行器的特定选择。我们模拟了基于网格中执行器的角度取向的一系列致动模式，并表明这种致动模式导致变形，而变形与网格的大小无关。我们还表明，存在跨越变形行为范围的这种致动模式的子集。最后，我们比较启动不同宏观网格所需的致动工作，并表明致动工作与网格的淋巴结连接有关。
Modular Active Cell Robots (MACROs) is a design approach in which a large number of linear actuators and passive compliant joints are assembled to create an active structure with a repeating unit cell. Such a mesh-like robotic structure can be actuated to achieve large deformation and shape-change. In this two-part paper, we use Finite Element Analysis (FEA) to model the deformation behavior of different MACRO mesh topologies and evaluate their passive and active mechanical characteristics. In part 1, we presented the passive stiffness characteristics of different MACRO meshes. Now, in this part 2 of the paper, we investigate the active strain characteristics of planar MACRO meshes. Using FEA, we quantify and compare the strains generated for the specific choice of MACRO mesh topology and further for the specific choice of actuators actuated in that particular mesh. We simulate a series of actuation modes that are based on the angular orientation of the actuators within the mesh and show that such actuation modes result in deformation that is independent of the size of the mesh. We also show that there exists a subset of such actuation modes that spans the range of deformation behavior. Finally, we compare the actuation effort required to actuate different MACRO meshes and show that the actuation effort is related to the nodal connectivity of the mesh.
