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Kuphatikizira nsalu ndi minofu yochita kupanga kuti apange nsalu zanzeru kumakopa chidwi chambiri kuchokera kumagulu asayansi ndi mafakitale.Zovala zanzeru zimapereka maubwino ambiri, kuphatikiza chitonthozo chosinthika komanso mawonekedwe apamwamba ndi zinthu pomwe zikupereka mphamvu yolimbikitsira kuyenda ndi mphamvu zomwe mukufuna.Nkhaniyi ikupereka kalasi yatsopano ya nsalu zanzeru zomwe zingathe kukonzedwa pogwiritsa ntchito njira zosiyanasiyana zoluka, kuluka ndi gluing ulusi wochita kupanga wopangidwa ndi madzimadzi.Chitsanzo cha masamu chinapangidwa kuti chifotokoze chiŵerengero cha mphamvu ya elongation ya mapepala oluka ndi nsalu, ndiyeno kutsimikizika kwake kunayesedwa moyesera.Nsalu zatsopano za "smart" zimakhala ndi kusinthasintha kwakukulu, kugwirizanitsa, ndi makina amakina, zomwe zimathandiza kuyenda mosiyanasiyana ndi kusinthika kwazinthu zambiri.Mitundu yosiyanasiyana ya nsalu zanzeru idapangidwa kudzera mukutsimikizira koyeserera, kuphatikiza mawonekedwe osiyanasiyana osintha mawonekedwe monga kutalika (mpaka 65%), kukulitsa madera (108%), kukulitsa ma radial (25%), ndikuyenda kopindika.Lingaliro la kukonzanso kwa minyewa yachikale kukhala zinthu zogwira ntchito zamapangidwe a biomimetic ikufufuzidwanso.Zovala zanzeru zomwe zaperekedwa zikuyembekezeredwa kuti zithandizire kupanga zovala zanzeru, makina a haptic, maloboti ofewa a biomimetic, ndi zamagetsi zovala.
Maloboti okhwima ndi othandiza akamagwira ntchito m'malo okhazikika, koma amakhala ndi vuto ndi zomwe sizikudziwika zakusintha kwachilengedwe, zomwe zimalepheretsa kugwiritsidwa ntchito kwawo pakufufuza kapena kufufuza.Chilengedwe chikupitiriza kutidabwitsa ndi njira zambiri zopangira zinthu zolimbana ndi zinthu zakunja ndi zosiyana.Mwachitsanzo, minyewa yamitengo yokwera imagwira ntchito zosiyanasiyana, monga kupindika ndi kuzungulira, kufufuza malo osadziwika pofunafuna chithandizo choyenera1.Ntchentche yotchedwa Venus flytrap (Dionaea muscipula) ili ndi tsitsi lomveka bwino pamasamba ake lomwe, likayambika, limalowa m'malo mwake kuti ligwire nyama2.M'zaka zaposachedwa, kupunduka kapena kusinthika kwa matupi kuchokera pamitundu iwiri (2D) kupita kumitundu itatu (3D) yomwe imatsanzira zachilengedwe yakhala mutu wosangalatsa wofufuza3,4.Masinthidwe ofewa a robotic awa amasintha mawonekedwe kuti agwirizane ndi malo osinthika, amathandizira kuyenda kwa ma multimodal, ndikugwiritsa ntchito mphamvu kuti agwire ntchito yamakina.Kufikira kwawo kwafikira kuzinthu zambiri zama robotiki, kuphatikiza ma deployables5, maloboti osinthika komanso odzipinda okha6,7, biomedical devices8, vehicles9,10 and expandable electronics11.
Kafukufuku wambiri wachitika kuti apange mbale zathyathyathya zomwe, zikayatsidwa, zimasintha kukhala zovuta zamagulu atatu3.Lingaliro losavuta lopanga zomangira zopunduka ndikuphatikiza zigawo za zinthu zosiyanasiyana zomwe zimasinthasintha ndi makwinya zikakhudzidwa ndi zolimbikitsa12,13.Janbaz et al.14 ndi Li et al.15 akhazikitsa lingaliro ili kuti apange maloboti osamva kutentha kwa ma multimodal.Mapangidwe opangidwa ndi Origami omwe amaphatikizapo zinthu zomwe zimakhudzidwa ndi zolimbikitsa zakhala zikugwiritsidwa ntchito popanga zovuta zamagulu atatu16,17,18.Mouziridwa ndi morphogenesis yazinthu zachilengedwe, Emmanuel et al.Ma elastomer opunduka mawonekedwe amapangidwa mwa kukonza njira za mpweya mkati mwa mphira pamwamba pake kuti, pansi pa kupanikizika, amasintha kukhala mawonekedwe ovuta, osasinthasintha amitundu itatu.
Kuphatikizika kwa nsalu kapena nsalu kukhala maloboti ofewa opunduka ndi ntchito ina yatsopano yomwe yadzetsa chidwi chofala.Zovala ndi zofewa komanso zotanuka zopangidwa kuchokera ku ulusi pogwiritsa ntchito njira zoluka monga kuluka, kuluka, kuluka, kapena kuluka mfundo.Zodabwitsa za nsalu, kuphatikizapo kusinthasintha, kukwanira, kusungunuka ndi kupuma, zimawapangitsa kukhala otchuka kwambiri mu chirichonse kuyambira zovala mpaka ntchito zachipatala20.Pali njira zitatu zazikulu zophatikizira nsalu mu robotics21.Njira yoyamba ndiyo kugwiritsa ntchito nsalu ngati chothandizira kapena maziko azinthu zina.Pachifukwa ichi, nsalu zopanda pake zimapatsa wogwiritsa ntchito bwino akamanyamula zinthu zolimba (ma motors, masensa, magetsi).Maloboti ambiri ofewa ovala kapena ma exoskeleton ofewa amagwera pansi pa njirayi.Mwachitsanzo, ma exoskeleton osavuta kuvala othandizira kuyenda 22 ndi zigongono 23, 24, 25, magolovesi ofewa ovala 26 othandizira pamanja ndi zala, ndi maloboti ofewa a bionic 27.
Njira yachiwiri ndiyo kugwiritsa ntchito nsalu ngati zida zofewa komanso zochepera pazida zofewa za robotic.Zopangira nsalu zopangira nsalu zimagwera m'gulu ili, pomwe nsaluyo nthawi zambiri imapangidwa ngati chidebe chakunja kuti ikhale ndi payipi yamkati kapena chipinda, ndikupanga cholumikizira chofewa chokhazikika.Zikayikidwa kunja kwa pneumatic kapena hydraulic source, ma actuators ofewa awa amasinthidwa mawonekedwe, kuphatikiza kutalika, kupindika kapena kupindika, kutengera kapangidwe kawo koyambirira ndi kasinthidwe.Mwachitsanzo, Talman et al.Zovala zam'mafupa za akakolo, zomwe zimakhala ndi matumba angapo ansalu, zidayambitsidwa kuti zithandizire kupindika kwa plantar kubwezeretsa gait28.Zovala za nsalu zokhala ndi zowonjezera zosiyanasiyana zimatha kuphatikizidwa kuti apange kayendedwe ka anisotropic 29.OmniSkins - zikopa zofewa za robotic zopangidwa kuchokera kumitundu yosiyanasiyana yofewa komanso zinthu zapansi panthaka zimatha kusintha zinthu zopanda pake kukhala maloboti omwe amagwira ntchito mosiyanasiyana omwe amatha kusuntha ndikusintha mosiyanasiyana pazinthu zosiyanasiyana.Zhu ndi al.apanga minofu yamadzimadzi sheet31 yomwe imatha kupanga elongation, kupindika, ndikuyenda kosiyanasiyana.Buckner ndi al.Phatikizani ulusi wogwira ntchito mu minofu wamba kuti mupange minyewa ya robotic yokhala ndi ntchito zingapo monga actuation, sensing, and variable stiffness32.Njira zina zomwe zili m'gululi zitha kupezeka m'mapepala awa 21, 33, 34, 35.
Njira yaposachedwa yogwiritsira ntchito zinthu zapamwamba za nsalu m'munda wa robotiki zofewa ndikugwiritsa ntchito ulusi wokhazikika kapena wokondoweza kuti apange nsalu zanzeru pogwiritsa ntchito njira zachikhalidwe zopangira nsalu monga kuluka, kuluka ndi kuluka21,36,37.Kutengera kapangidwe kazinthu, ulusi wokhazikika umayambitsa kusintha kwa mawonekedwe akamakhudzidwa ndi magetsi, kutentha kapena kupanikizika, zomwe zimapangitsa kuti nsaluyo ikhale yosinthika.Mwa njira iyi, kumene nsalu zachikhalidwe zimaphatikizidwa mu dongosolo lofewa la robotic, kukonzanso kwa nsalu kumachitika pamtundu wamkati (ulusi) osati kunja.Mwakutero, nsalu zanzeru zimapereka magwiridwe antchito abwino kwambiri potengera kusuntha kwa ma multimodal, mapindikidwe osinthika, otambasuka, komanso kuthekera kosintha kuuma.Mwachitsanzo, ma aloyi a kukumbukira mawonekedwe (SMAs) ndi ma polima okumbukira mawonekedwe (SMPs) amatha kuphatikizidwa munsalu kuti azitha kuwongolera mawonekedwe awo kudzera pakukondoweza kwamafuta, monga hemming38, kuchotsa makwinya36,39, tactile ndi tactile feedback40,41, komanso kusinthasintha. zovala zomveka.zipangizo 42 .Komabe, kugwiritsa ntchito mphamvu zotenthetsera kutenthetsa ndi kuziziritsa kumabweretsa kuyankha kwapang'onopang'ono komanso kuzizira ndi kuwongolera kovuta.Posachedwapa, Hiramitsu et al.Minofu yabwino ya McKibben43,44, minofu yokumba ya pneumatic, imagwiritsidwa ntchito ngati ulusi wa warp kupanga mitundu yosiyanasiyana ya nsalu zogwira ntchito posintha kapangidwe kake45.Ngakhale kuti njirayi imapereka mphamvu zambiri, chifukwa cha chikhalidwe cha minofu ya McKibben, kuchuluka kwake kumachepa (<50%) ndipo kukula kochepa sikungatheke (m'mimba mwake <0.9 mm).Kuphatikiza apo, zakhala zovuta kupanga mapangidwe anzeru a nsalu kuchokera ku njira zoluka zomwe zimafuna ngodya zakuthwa.Kuti apange nsalu zambiri zanzeru, Maziz et al.Zovala zopangidwa ndi electroactive zapangidwa ndi kuluka ndi kuluka ulusi wa polima wa electrosensitive46.
M'zaka zaposachedwapa, mtundu watsopano wa minofu yopangira thermosensitive yatulukira, yopangidwa kuchokera kuzitsulo zopotoka kwambiri, zotsika mtengo za polima47,48.Ulusi umenewu umapezeka pamalonda ndipo umalowetsedwa mosavuta mu kuluka kapena kuluka kuti apange zovala zanzeru zotsika mtengo.Ngakhale zapita patsogolo, nsalu zatsopanozi zosamva kutenthazi zimakhala ndi nthawi yochepa yoyankha chifukwa chofuna kutenthetsa ndi kuziziritsa (monga nsalu zoyendetsedwa ndi kutentha) kapena zovuta kupanga mapatani ovuta oluka komanso oluka omwe amatha kupangidwa kuti apange zopindika ndikuyenda zomwe mukufuna. .Zitsanzo zikuphatikiza kukula kwa radial, kusintha kwa mawonekedwe a 2D mpaka 3D, kapena kukulitsa kwa mbali ziwiri, zomwe timapereka apa.
Kuti tithane ndi mavuto omwe tawatchulawa, nkhaniyi ikupereka nsalu zanzeru zoyendetsedwa ndi madzi opangidwa kuchokera ku ulusi wofewa wa minofu (AMF)49,50,51.Ma AMF ndi osinthika kwambiri, osinthika ndipo amatha kuchepetsedwa kukhala mainchesi a 0.8 mm ndi kutalika kwakukulu (osachepera 5000 mm), opereka mawonekedwe apamwamba (kutalika mpaka m'mimba mwake) komanso elongation yayikulu (osachepera 245%), mphamvu yayikulu. Kuchita bwino, kuchepera kwa 20Hz kuyankha mwachangu).Kuti tipange nsalu zanzeru, timagwiritsa ntchito AMF ngati ulusi wogwira ntchito kupanga 2D minofu yogwira ntchito pogwiritsa ntchito njira zoluka ndi zoluka.Taphunzira mochulukirachulukira ndi mphamvu yakuchulukira kwa minyewa "yanzeru" iyi potengera kuchuluka kwamadzimadzi komanso kupanikizika komwe kumaperekedwa.Mitundu yowunikira yapangidwa kuti ikhazikitse mgwirizano wa mphamvu ya elongation ya mapepala oluka ndi oluka.Timafotokozeranso njira zingapo zamakina opangira nsalu zanzeru zosunthira ma multimodal, kuphatikiza kukulitsa ma-directional, kupindika, kukulitsa ma radial, komanso kuthekera kosintha kuchokera ku 2D kupita ku 3D.Kuti tiwonetse mphamvu ya njira yathu, tidzaphatikizanso AMF mu nsalu zamalonda kapena nsalu kuti tisinthe masinthidwe awo kuchokera kuzinthu zopanda pake kupita kuzinthu zomwe zimayambitsa zowonongeka zosiyanasiyana.Tawonetsanso lingaliro ili pamabenchi angapo oyesera, kuphatikiza kupindika kwa ulusi kuti apange zilembo zofunidwa ndikusintha mawonekedwe azinthu monga agulugufe, zopanga zinayi ndi maluwa.
Zovala zimakhala zosinthika zamitundu iwiri zopangidwa kuchokera ku ulusi wolukana wa mbali imodzi monga ulusi, ulusi ndi ulusi.Zovala ndi imodzi mwamaukadaulo akale kwambiri aanthu ndipo amagwiritsidwa ntchito kwambiri m'mbali zonse za moyo chifukwa cha chitonthozo, kusinthika, kupuma, kukongola komanso chitetezo.Nsalu zanzeru (zomwe zimadziwikanso kuti zovala zanzeru kapena nsalu za robotic) zikugwiritsidwa ntchito kwambiri pofufuza chifukwa cha kuthekera kwawo pakugwiritsa ntchito robotic20,52.Nsalu zanzeru zimalonjeza kupititsa patsogolo chidziwitso chaumunthu cha kuyanjana ndi zinthu zofewa, kuyambitsa kusintha kwa paradigm m'munda momwe kayendetsedwe kake ndi mphamvu za nsalu zowonda, zosinthika zimatha kuyendetsedwa kuti zigwire ntchito zenizeni.Mu pepalali, tikuwunika njira ziwiri zopangira nsalu zanzeru kutengera AMF49 yathu yaposachedwa: (1) gwiritsani ntchito AMF ngati ulusi wogwira ntchito popanga nsalu zanzeru pogwiritsa ntchito umisiri wamakono wopanga nsalu;(2) ikani AMF mwachindunji mu nsalu zachikhalidwe kuti mulimbikitse kusuntha komwe mukufuna ndikusintha.
AMF imakhala ndi chubu la silicone lamkati kuti lipereke mphamvu ya hydraulic ndi coil yakunja ya helical kuti ichepetse kukula kwake kwa radial.Choncho, ma AMF amatalika motalika pamene kukakamizidwa kukugwiritsidwa ntchito ndikuwonetsa mphamvu za contractile kuti zibwerere ku utali wake woyambirira pamene kukakamizidwa kumasulidwa.Ali ndi katundu wofanana ndi ulusi wachikhalidwe, kuphatikizapo kusinthasintha, m'mimba mwake yaying'ono komanso kutalika kwautali.Komabe, AMF imagwira ntchito kwambiri komanso imayendetsedwa molingana ndi kayendetsedwe kake ndi mphamvu kuposa anzawo wamba.Polimbikitsidwa ndi kupita patsogolo kofulumira kwa nsalu zanzeru, apa tikuwonetsa njira zinayi zazikulu zopangira nsalu zanzeru pogwiritsa ntchito AMF paukadaulo wopangira nsalu womwe unakhazikitsidwa kalekale (Chithunzi 1).
Njira yoyamba ndiyo kuluka.Timagwiritsa ntchito ukadaulo woluka weft kuti tipange nsalu yoluka yokhazikika yomwe imawulukira mbali imodzi ikayendetsedwa ndi hydraulically.Mapepala oluka ndi otambasuka kwambiri komanso otambasuka koma amakonda kumasuka mosavuta kuposa mapepala owongoka.Kutengera njira yowongolera, AMF imatha kupanga mizere kapena zinthu zonse.Kuphatikiza pa mapepala athyathyathya, ma tubular knitting mapatani nawonso ndi oyenera kupanga zida zopanda kanthu za AMF.Njira yachiwiri ndi yoluka, pomwe timagwiritsa ntchito ma AMF awiri ngati mipiringidzo ndi weft kupanga pepala loluka lamakona anayi lomwe limatha kukulitsa mopanda mbali ziwiri.Mapepala oluka amawongolera kwambiri (mbali zonse ziwiri) kuposa mapepala oluka.Tidawombanso AMF kuchokera ku ulusi wachikhalidwe kuti tipange pepala losavuta loluka lomwe lingamasulidwe mbali imodzi.Njira yachitatu - kukulitsa kwa radial - ndi njira yosinthira, momwe ma AMPs sapezeka mu rectangle, koma mozungulira, ndipo ulusi umapereka zopinga za radial.Pankhaniyi, kuluka kumakulirakulira mokulira pansi pa kukakamiza kolowera.Njira yachinayi ndikumamatira AMF pansalu yokhazikika kuti ipangitse kuyenda komwe mukufuna.Tasinthanso bolodi lopumira kukhala bolodi lokhazikika poyendetsa AMF m'mphepete mwake.Kukonzekera kwa AMF kumeneku kumatsegula mwayi wambiri wazinthu zofewa zokhala ndi mawonekedwe opangidwa ndi bio momwe titha kusinthira zinthu zongogwira ntchito.Njirayi ndi yosavuta, yosavuta, komanso yachangu, koma imatha kusokoneza moyo wautali wa prototype.Owerenga amatchulidwa njira zina m'mabuku omwe amafotokoza za mphamvu ndi zofooka za minofu iliyonse21,33,34,35.
Ulusi kapena ulusi wambiri womwe umagwiritsidwa ntchito popanga nsalu zachikhalidwe uli ndi zinthu zomwe sizimangokhala.Mu ntchitoyi, timagwiritsa ntchito AMF yathu yomwe idapangidwa kale, yomwe imatha kufika kutalika kwa mita ndi mainchesi a submillimeter, m'malo mwa ulusi wamba wamba ndi AFM kuti tipange nsalu zanzeru komanso zogwira ntchito zosiyanasiyana.Magawo otsatirawa akufotokoza mwatsatanetsatane njira zopangira ma prototypes a nsalu zanzeru ndikuwonetsa ntchito zawo zazikulu ndi machitidwe awo.
Tidapanga pamanja ma jezi atatu a AMF pogwiritsa ntchito njira yoluka ma weft (mkuyu 2A).Kusankha kwazinthu ndi tsatanetsatane wa ma AMF ndi ma prototypes atha kupezeka mu gawo la Njira.AMF iliyonse imatsata njira yokhotakhota (yomwe imatchedwanso njira) yomwe imapanga lupu lofanana.Zingwe za mzere uliwonse zimakhazikika ndi malupu a mizere pamwamba ndi pansi pake.Mphete za ndime imodzi perpendicular kwa maphunziro amaphatikizidwa mu mtengo.Chitsanzo chathu cholukidwa chimakhala ndi mizere itatu ya masitichi asanu ndi awiri (kapena nsonga zisanu ndi ziwiri) pamzere uliwonse.Mphete zam'mwamba ndi zapansi sizinakhazikike, kotero tikhoza kuzigwirizanitsa ndi ndodo zachitsulo zogwirizana.Zojambula zolukidwa zimamasuka mosavuta kuposa nsalu wamba zoluka chifukwa cha kuuma kwakukulu kwa AMF poyerekeza ndi ulusi wamba.Choncho, tinamanga malupu a mizere yoyandikana ndi zingwe zopyapyala.
Ma prototypes osiyanasiyana a nsalu zanzeru akugwiritsidwa ntchito ndi masinthidwe osiyanasiyana a AMF.(A) Mapepala oluka opangidwa kuchokera ku ma AMF atatu.(B) Mapepala awiri a AMF awiri.(C) Pepala lopangidwa ndi unidirectional lopangidwa kuchokera ku AMF ndi ulusi wa acrylic ukhoza kunyamula katundu wa 500g, womwe ndi 192 kulemera kwake (2.6g).(D) Kapangidwe kamene kakukulirakulira ndi AMF imodzi ndi ulusi wa thonje ngati chopinga cha radial.Zambiri zitha kupezeka mu gawo la Njira.
Ngakhale malupu a zigzag oluka amatha kutambasuka mbali zosiyanasiyana, cholumikizira chathu chimakulirakulira molunjika ku lupu chifukwa cholephera kuyenda.Kutalikitsa kwa AMF iliyonse kumathandizira kukulitsa gawo lonse la pepala loluka.Kutengera zofunikira zenizeni, titha kuwongolera ma AMF atatu mopanda magwero atatu osiyanasiyana amadzimadzi (Chithunzi 2A) kapena nthawi imodzi kuchokera ku gwero limodzi lamadzimadzi kudzera pa 1-to-3 yogawa madzimadzi.Pa mkuyu.2A ikuwonetsa chitsanzo cha chojambula choluka, malo oyamba omwe adakwera ndi 35% pomwe akukakamiza ma AMP atatu (1.2 MPa).Makamaka, AMF imafikira kutalika kwa 250% ya kutalika kwake koyambirira49 kotero kuti mapepala oluka amatha kutambasula kuposa matembenuzidwe apano.
Tinapanganso mapepala okhotakhota opangidwa kuchokera ku ma AMF awiri pogwiritsa ntchito njira yoluka (Chithunzi 2B).AMF warp ndi weft amalumikizana pamakona abwino, kupanga mawonekedwe osavuta a criss-cross.Ulusi wathu woluka udayikidwa ngati ulusi woluka bwino chifukwa ulusi wokhotakhota ndi wokhotakhota udapangidwa kuchokera ku kukula kwa ulusi womwewo (onani gawo la Njira kuti mumve zambiri).Mosiyana ndi ulusi wamba womwe umatha kupanga mipindi yakuthwa, AMF yogwiritsidwa ntchito imafuna ulusi wina wopindika pobwerera ku ulusi wina wa njira yoluka.Chifukwa chake, mapepala oluka opangidwa kuchokera ku AMP amakhala ndi kachulukidwe kakang'ono poyerekeza ndi nsalu wamba.AMF-mtundu S (m'mimba mwake 1.49 mm) ali ndi utali wopindika wochepera 1.5 mm.Mwachitsanzo, njira yokhotakhota yomwe timapereka m'nkhaniyi ili ndi ulusi wa 7 × 7 pomwe mphambano iliyonse imakhazikika ndi mfundo ya chingwe chopyapyala.Pogwiritsa ntchito njira yomweyi yoluka, mutha kupeza zingwe zambiri.
Pamene AMF yofananira ilandira kuthamanga kwamadzimadzi, chinsalu cholukidwa chimakulitsa dera lake munjira yokhotakhota kapena yokhotakhota.Chifukwa chake, tidawongolera miyeso ya pepala loluka (kutalika ndi m'lifupi) mwa kusintha mosasintha kuchuluka kwa kulowetsedwa komwe kumagwiritsidwa ntchito pa ma AMP awiriwo.Pa mkuyu.2B ikuwonetsa chojambula cholukidwa chomwe chidakula mpaka 44% ya malo ake oyambilira ndikukakamiza ku AMP imodzi (1.3 MPa).Ndi kukakamiza munthawi yomweyo ma AMF awiri, malowa adakula ndi 108%.
Tidapanganso pepala lopangidwa ndi unidirectional kuchokera ku AMF imodzi yokhala ndi ulusi wopindika ndi ulusi wa acrylic ngati weft (Chithunzi 2C).Ma AMF amapangidwa m'mizere isanu ndi iwiri ya zigzag ndipo ulusiwo amalukira mizere iyi ya ma AMF pamodzi kupanga pepala lamakona anayi.Chojambula cholukidwachi chinali cholimba kuposa mkuyu 2B, chifukwa cha ulusi wofewa wa akiliriki womwe unadzaza pepala lonse mosavuta.Chifukwa timangogwiritsa ntchito AMF imodzi yokha ngati chiwombankhanga, chinsalu cholukidwacho chimangokulirakulira mpaka kunkhondo popanikizika.Chithunzi 2C chikuwonetsa chitsanzo cha chojambula cholukidwa chomwe malo ake oyambira amawonjezeka ndi 65% ndi kuthamanga kowonjezereka (1.3 MPa).Kuphatikiza apo, chidutswa cholukidwa ichi (cholemera magalamu 2.6) chimatha kunyamula katundu wa magalamu 500, omwe ndi 192 kuwirikiza kulemera kwake.
M'malo mokonza AMF mu ndondomeko ya zigzag kuti apange pepala lopangidwa ndi makona anayi, tinapanga mawonekedwe ozungulira ozungulira a AMF, omwe adatsekedwa mwamphamvu ndi thonje kuti apange pepala lozungulira (Chithunzi 2D).Kukhazikika kwakukulu kwa AMF kumachepetsa kudzazidwa kwake kwa chigawo chapakati cha mbale.Komabe, padding iyi imatha kupangidwa kuchokera ku ulusi wotanuka kapena nsalu zotanuka.Ikalandira kuthamanga kwa hydraulic, AMP imatembenuza kutalika kwake kotalika kukhala kukulitsa kwa pepala.Ndikoyeneranso kudziwa kuti ma diameter akunja ndi amkati a mawonekedwe ozungulira amawonjezeka chifukwa cha kuchepa kwa ma radial a filaments.Chithunzi cha 2D chikuwonetsa kuti pogwiritsa ntchito mphamvu ya hydraulic ya 1 MPa, mawonekedwe a pepala lozungulira amakula mpaka 25% ya malo ake oyambirira.
Tikupereka apa njira yachiwiri yopangira nsalu zanzeru pomwe timamatira AMF pansalu yathyathyathya ndikuyisinthanso kuchoka pakupanga kukhala yoyendetsedwa mwachangu.Chithunzi chojambula cha bend drive chikuwonetsedwa mkuyu.3A, pomwe AMP imapindidwa pakati ndikumata pansalu yosaneneka (nsalu ya thonje muslin) pogwiritsa ntchito tepi ya mbali ziwiri ngati zomatira.Akasindikizidwa, pamwamba pa AMF ndi ufulu wowonjezera, pamene pansi pamakhala malire ndi tepi ndi nsalu, zomwe zimapangitsa kuti mzerewo upitirire ku nsalu.Titha kuyimitsa gawo lililonse la bend actuator paliponse pomata katepiyo.Gawo lozimitsidwa silingasunthe ndipo limakhala gawo longokhala.
Nsalu zimasinthidwanso ndikumamatira AMF pansalu zachikhalidwe.(A) Lingaliro la kapangidwe ka galimoto yopindika yopangidwa ndi kumata AMF yopindidwa pansalu yosaneneka.(B) Kupindika kwa prototype ya actuator.(C) Kusinthanso kwa nsalu yamakona anayi kukhala loboti yogwira ntchito yamiyendo inayi.Nsalu yosasunthika: jersey ya thonje.Tambasula nsalu: polyester.Zambiri zitha kupezeka mu gawo la Njira.
Tidapanga ma actuators angapo opindika autali wosiyanasiyana ndikuwakakamiza ndi ma hydraulics kuti apange mayendedwe opindika (Chithunzi 3B).Chofunika kwambiri, AMF ikhoza kuikidwa molunjika kapena kupindika kuti ipange ulusi wambiri ndikumangirira pansalu kuti ipange galimoto yopindika ndi nambala yoyenera ya ulusi.Tidatembenuzanso pepala lokhala ndi tinthu tating'onoting'ono (Chithunzi 3C), pomwe tidagwiritsa ntchito AMF kuti tiyendetse malire a minofu ya rectangular inextensible (nsalu ya muslin ya thonje).AMP imamangiriridwa ku nsalu ndi chidutswa cha tepi ya mbali ziwiri.Pakati pa m'mphepete uliwonse amajambulidwa kuti asakhale chete, pamene ngodya zinayi zimakhalabe zogwira ntchito.Chophimba chapamwamba cha nsalu yotambasula (polyester) ndichosankha.Makona anayi a nsalu amapindika (amawoneka ngati miyendo) akakanikizidwa.
Tinapanga benchi yoyesera kuti tiphunzire mochulukira za nsalu zanzeru zomwe zapangidwa (onani gawo la Njira ndi Supplementary Figure S1).Popeza zitsanzo zonse anapangidwa AMF, chizolowezi ambiri zotsatira experimental (mkuyu. 4) n'zogwirizana ndi makhalidwe waukulu wa AMF, ndicho, kuthamanga polowera ndi molunjika molingana ndi kubwereketsa elongation ndi inversely proportional kwa psinjika mphamvu.Komabe, nsalu zanzeru izi zimakhala ndi mawonekedwe apadera omwe amawonetsa masinthidwe awo enieni.
Imakhala ndi masinthidwe a nsalu zanzeru.(A, B) Mapindikidwe a Hysteresis a kukakamiza kolowera ndi kutulutsa kotulutsa komanso kukakamiza kwamasamba.(C) Kukula kwa gawo la pepala loluka.(D,E) Ubale pakati pa kukakamiza kolowera ndi kutulutsa kotulutsa ndi kukakamiza kwa zovala zoluka.(F) Kukula kwa dera la nyumba zokulirakulira.(G) Kupinda kopindika kwa mautali atatu osiyanasiyana a ma drive opindika.
Aliyense AMF wa pepala nsalu anali pansi kulowetsa kupanikizika kwa 1 MPa kupanga pafupifupi 30% elongation (mkuyu. 4A).Tinasankha malirewa pakuyesera konse pazifukwa zingapo: (1) kupanga kutalika kwakukulu (pafupifupi 30%) kuti titsindike ma hysteresis curves awo, (2) kuteteza kupalasa njinga kuchokera ku mayesero osiyanasiyana ndi ma prototypes omwe amatha kugwiritsidwanso ntchito chifukwa cha kuwonongeka mwangozi kapena kulephera..pansi pa kuthamanga kwamadzimadzi.Gawo lakufa likuwoneka bwino, ndipo kuluka kumakhalabe kosasunthika mpaka kukakamiza kolowera kukafika 0,3 MPa.Kuthamanga kwa elongation hysteresis chiwembu kumasonyeza kusiyana kwakukulu pakati pa kupopera ndi kutulutsa magawo, kusonyeza kuti pali kutaya kwakukulu kwa mphamvu pamene pepala lolukidwa limasintha kayendedwe kake kuchoka pakukula mpaka kutsika.(Mkuyu 4A).Pambuyo polandira kulowetsedwa kwa 1 MPa, pepala loluka likhoza kukhala ndi mphamvu yodutsa 5.6 N (Mkuyu 4B).Chiwembu cha pressure-force hysteresis chikuwonetsanso kuti ma curve obwezeretsanso pafupifupi amadutsana ndi kupindika kwamphamvu.Kukula kwa dera la pepala loluka kumadalira kuchuluka kwa mphamvu zomwe zimagwiritsidwa ntchito pa AMFs ziwiri zilizonse, monga momwe tawonetsera pa chiwembu cha 3D pamwamba (Chithunzi 4C).Kuyesera kumawonetsanso kuti pepala loluka limatha kukulitsa dera la 66% pomwe ma AMF ake a warp ndi weft amakumana ndi mphamvu ya hydraulic ya 1 MPa.
Zotsatira zoyeserera za pepala lolukidwa zikuwonetsa mawonekedwe ofanana ndi pepala lolukidwa, kuphatikiza kusiyana kwakukulu pazithunzi za kupsinjika-kupanikizika komanso mipiringidzo yopingasa yamphamvu.The kuluka pepala anasonyeza elongation wa 30%, kenako psinjika mphamvu anali 9 N pa polowera kuthamanga 1 MPa (mkuyu. 4D, E).
Pankhani ya pepala lozungulira lozungulira, malo ake oyambirira adakula ndi 25% poyerekeza ndi malo oyambirira pambuyo pokhudzana ndi kuthamanga kwamadzimadzi kwa 1 MPa (mkuyu 4F).Zitsanzo zisanayambe kukula, pali malo olowera kwambiri olowera mpaka 0.7 MPa.Dera lalikulu lakufali likuyembekezeka chifukwa zitsanzozo zidapangidwa kuchokera ku ma AMF akulu omwe amafunikira kupanikizika kwambiri kuti athe kuthana ndi nkhawa zawo zoyambirira.Pa mkuyu.4F ikuwonetsanso kuti mayendedwe omasulidwa pafupifupi amafanana ndi kuwonjezereka kwa mphamvu, kusonyeza kutaya mphamvu pang'ono pamene kayendetsedwe ka disc kasinthidwa.
Zotsatira zoyeserera za ma actuators atatu opindika (kukonzanso minofu) zikuwonetsa kuti ma hysteresis curves ali ndi mawonekedwe ofanana (Chithunzi 4G), pomwe amakumana ndi zone yakufa yolowera mpaka 0.2 MPa asananyamule.Tidayika kuchuluka komweko kwamadzimadzi (0.035 ml) pamagalimoto atatu opindika (L20, L30 ndi L50 mm).Komabe, actuator iliyonse idakumana ndi nsonga zamphamvu zosiyanasiyana ndipo idapanga ma angles opindika osiyanasiyana.Ma actuators a L20 ndi L30 mm adakumana ndi kulowetsedwa kwa 0.72 ndi 0.67 MPa, kumafika pamakona opindika a 167 ° ndi 194 ° motsatana.Mayendedwe akutali kwambiri (kutalika kwa 50 mm) adapirira kukakamiza kwa 0.61 MPa ndipo adafika pamtunda wopindika wa 236 °.Magawo a pressure angle hysteresis adawululanso mipata yayikulu pakati pa kukakamiza ndi kutulutsa ma curve pama drive onse atatu opindika.
Ubale pakati pa voliyumu yolowetsa ndi katundu wotulutsa (kutalika, mphamvu, kukulitsa dera, ngodya yopindika) pamasinthidwe a nsalu zanzeru pamwambapa akupezeka mu Supplementary Figure S2.
Zotsatira zoyeserera m'gawo lapitalo zikuwonetsa bwino mgwirizano wolingana pakati pa kukakamiza kolowera ndikutulutsa kwa zitsanzo za AMF.AMB ikakhala yamphamvu kwambiri, m'pamenenso ikukula kwambiri komanso mphamvu zotanuka zomwe zimadziunjikira.Chifukwa chake, mphamvu yopondereza imachulukirachulukira.Zotsatirazo zinawonetsanso kuti zitsanzozo zinafikira mphamvu yawo yopondereza kwambiri pamene kulowetsedwa kunachotsedwa kwathunthu.Gawoli likufuna kukhazikitsa ubale wachindunji pakati pa kutalika ndi kuchulukira kwakukulu kwa mapepala olukidwa ndi oluka kudzera mumayendedwe owunikira ndi kutsimikizira koyesera.
Mphamvu yayikulu ya contractile Fout (pamphamvu yolowera P = 0) ya AMF imodzi idaperekedwa mu ref 49 ndikubwezeretsanso motere:
Pakati pawo, α, E, ndi A0 ndizomwe zimatambasula, Young's modulus, ndi gawo lapakati pa chubu la silicone, motsatana;k ndi kuuma kokwanira kwa koyilo yozungulira;x ndi li ndizosiyana komanso kutalika koyambirira.AMP, motero.
equation yoyenera.(1) Tengani mapepala oluka ndi nsalu monga chitsanzo (mkuyu 5A, B).Mphamvu zakuchulukira kwa chinthu choluka Fkv ndi chinthu choluka Fwh chimawonetsedwa ndi equation (2) ndi (3), motsatana.
kumene mk ndi chiwerengero cha malupu, φp ndi kuzungulira kwa nsalu yolukidwa pa nthawi ya jekeseni (mkuyu 5A), mh ndi chiwerengero cha ulusi, θhp ndi mbali yolumikizana ya nsalu yolukidwa panthawi ya jekeseni (Mkuyu 5B), εkv εwh ndi chinsalu cholukidwa ndi kupindika kwa pepala loluka, F0 ndiye kukangana koyambirira kwa koyilo yozungulira.Tsatanetsatane wa equation.(2) ndi (3) angapezeke m'chidziwitso chothandizira.
Pangani chitsanzo chowunikira chaubale wa elongation-force.(A,B) Zithunzi zowunikira zamasamba oluka ndi oluka, motsatana.(C,D) Kuyerekeza kwa zitsanzo zowunikira ndi data yoyesera pamapepala oluka ndi oluka.RMSE Root zikutanthauza cholakwika cha square.
Kuyesa chitsanzo otukuka, tinachita kuyesa elongation ntchito zolukidwa mapatani mu Mkuyu 2A ndi kuluka zitsanzo mkuyu. 2B.Mphamvu yotsitsa idayezedwa mu 5% zowonjezera pazotseka zilizonse kuchokera pa 0% mpaka 50%.Kupatuka kwapang'onopang'ono ndi koyenera kwa mayesero asanuwa akufotokozedwa mu Chithunzi 5C (cholumikizana) ndi Chithunzi 5D (cholumikizana).Ma curve a ma analytical model amafotokozedwa ndi ma equation.Zigawo (2) ndi (3) zaperekedwa mu Table.1. Zotsatira zikuwonetsa kuti chitsanzo chowunikira chikugwirizana bwino ndi deta yoyesera pamtunda wonse wa elongation ndi root mean square error (RMSE) ya 0.34 N ya zovala zoluka, 0.21 N za AMF H zoluka (zopingasa) ndi 0.17 N kwa AMF yoluka.V (njira yolunjika).
Kuphatikiza pamayendedwe oyambira, nsalu zanzeru zomwe zaperekedwa zitha kukonzedwa mwamakina kuti zipereke mayendedwe ovuta kwambiri monga S-bend, ma radial contraction, ndi 2D mpaka 3D deformation.Tikupereka apa njira zingapo zopangira nsalu zathyathyathya kukhala zofunidwa.
Kuwonjezera kukulitsa ankalamulira mu liniya malangizo, unidirectional nsalu mapepala akhoza umakaniko anakonza kulenga multimodal kayendedwe (mkuyu. 6A).Timakonzanso kukulitsa kwa pepala loluka ngati kusuntha, kukakamiza imodzi mwa nkhope zake (pamwamba kapena pansi) ndi ulusi wosoka.Mapepalawa amakonda kupindikira kumalo omangirira pansi pa kupanikizika.Pa mkuyu.6A ikuwonetsa zitsanzo ziwiri za mapanelo olukidwa omwe amakhala ngati S pomwe theka limodzi lili locheperapo mbali yakumtunda ndipo theka lina lili locheperapo pansi.Kapenanso, mutha kupanga zozungulira zopindika pomwe nkhope yonse imakakamizidwa.A unidirectional kuluka pepala angathenso kukhala psinjika manja ndi kulumikiza malekezero ake awiri mu dongosolo tubular (mkuyu 6B).Manjawa amavalidwa pa chala chamlozera cha munthu kuti amupanikize, njira yotikita minofu kuti muchepetse ululu kapena kuti magazi aziyenda bwino.Ikhoza kupangidwa kuti igwirizane ndi ziwalo zina za thupi monga mikono, chiuno, ndi miyendo.
Kutha kuluka mapepala kumbali imodzi.(A) Kupanga zinthu zopunduka chifukwa cha kukhazikika kwa mawonekedwe a ulusi wosokera.(B) Kuponderezana kwa zala.(C) Mtundu wina wa pepala lolukidwa ndi kukhazikitsidwa kwake ngati mkono wopondereza mkono.(D) Chitsanzo china cha manja oponderezedwa opangidwa kuchokera ku mtundu wa AMF M, ulusi wa acrylic ndi zingwe za Velcro.Zambiri zitha kupezeka mu gawo la Njira.
Chithunzi 6C chikuwonetsa chitsanzo china cha pepala lopangidwa ndi unidirectional lopangidwa kuchokera ku AMF imodzi ndi ulusi wa thonje.Tsambali likhoza kukulirakulira ndi 45% m'dera (pa 1.2 MPa) kapena kuyambitsa kusuntha kozungulira mopanikizika.Taphatikizanso pepala kuti tipange zomangira zam'manja polumikiza zingwe za maginito kumapeto kwa pepalalo.Mkuyu 6D, womwe unidirectional wolukidwa mapepala adapangidwa kuchokera ku Mtundu wa M AMF (onani Njira) ndi ulusi wa acrylic kuti apange mphamvu zopondereza zamphamvu.Takonzekeretsa malekezero a mapepala okhala ndi zingwe za Velcro kuti azilumikiza mosavuta komanso makulidwe osiyanasiyana amanja.
Njira yoletsera, yomwe imatembenuza kukulitsa kwa mzere kukhala wopindika, imagwiranso ntchito pamapepala olokedwa pawiri.Timawomba ulusi wa thonje kumbali imodzi ya mapepala okhotakhota ndi okhotakhota kuti asakulitse (mkuyu 7A).Chifukwa chake, ma AMF awiri akalandira kuthamanga kwa hydraulic popanda wina ndi mnzake, pepalalo limapindika pang'onopang'ono kuti lipange mawonekedwe amitundu itatu.Mu njira ina, timagwiritsa ntchito ulusi wosatambasuka kuti tichepetse njira imodzi ya mapepala opangidwa ndi bidirectional (Chithunzi 7B).Chifukwa chake, pepalalo limatha kupanga mayendedwe odziyimira pawokha komanso kutambasula pamene AMF yofananira ili pansi pamavuto.Pa mkuyu.7B imasonyeza chitsanzo chomwe pepala lopangidwa ndi bidirectional limayendetsedwa kuti likulungire magawo awiri mwa magawo atatu a chala cha munthu ndikumangirira ndikuwonjezera kutalika kwake kuti aphimbe zina zonse ndi kuyenda kotambasula.Kusuntha kwa mapepala awiri kungakhale kothandiza pakupanga mafashoni kapena chitukuko cha zovala zanzeru.
Mapepala oluka awiri-mbali, pepala loluka komanso luso lokulitsa lokulitsa.(A) Mapanelo a Bi-directional amalumikizana ndi ma wicker kuti apange bend yolowera mbali ziwiri.(B) Mapanelo opangidwa ndi unidirectional omwe amalepheretsa bidirectional amatulutsa kusinthasintha komanso kutalika.(C) Pepala lopangidwa ndi zotanuka kwambiri, lomwe lingafanane ndi kupindika kosiyanasiyana komanso kupanga ma tubular.(D) malire a mzere wapakati wa mawonekedwe okulirakulira omwe amapanga mawonekedwe a hyperbolic parabolic (tchipisi ta mbatata).
Tidalumikiza malupu awiri oyandikana ndi mizere yakumtunda ndi yapansi ya gawo loluka ndi ulusi wosokera kuti asatuluke (mkuyu 7C).Chifukwa chake, chinsalu cholukidwacho chimakhala chosinthika bwino ndipo chimagwirizana bwino ndi zokhotakhota zosiyanasiyana, monga khungu la manja ndi mikono ya anthu.Tinapanganso mawonekedwe a tubular (sleeve) polumikiza malekezero a gawo lolukidwa polowera ulendo.Manja amakulunga bwino pa chala cha munthu (mkuyu 7C).Sinuosity ya nsalu yolukidwa imakhala yokwanira bwino komanso yopunduka, zomwe zimapangitsa kuti zikhale zosavuta kugwiritsa ntchito kuvala mwanzeru (magolovesi, manja oponderezedwa), kupereka chitonthozo (kupyolera mu kukwanira) ndi zotsatira zochiritsira (kudzera kupsinjika).
Kuphatikiza pakukula kwa 2D radial mbali zingapo, mapepala ozungulira ozungulira amathanso kukonzedwa kuti apange mapangidwe a 3D.Tinachepetsa mzere wapakati wa luko lozungulira ndi ulusi wa acrylic kuti asokoneze kukula kwake kofananako.Chifukwa, choyambirira lathyathyathya mawonekedwe a kuzungulira nsalu pepala linasandulika hyperbolic parabolic mawonekedwe (kapena mbatata tchipisi) pambuyo pressurization (mkuyu. 7D).Kuthekera kosintha mawonekedwe uku kumatha kukhazikitsidwa ngati makina okweza, ma lens owoneka bwino, miyendo ya loboti yam'manja, kapena itha kukhala yothandiza pakupanga mafashoni ndi maloboti a bionic.
Tapanga njira yosavuta yopangira ma flexural drives pomata AMF pansalu yosatambasula (Chithunzi 3).Timagwiritsa ntchito lingaliro ili kuti tipange ulusi wosinthika momwe tingagawire zigawo zingapo zogwira ntchito komanso zopanda pake mu AMF imodzi kuti tipange mawonekedwe omwe tikufuna.Tinapanga ndi kupanga ma filaments anayi ogwira ntchito omwe angasinthe mawonekedwe awo kuchokera ku molunjika kupita ku chilembo (UNSW) pamene kupanikizika kunawonjezeka (Supplementary Fig. S4).Njira yosavutayi imalola kupunduka kwa AMF kutembenuza mizere ya 1D kukhala mawonekedwe a 2D komanso mwinanso mapangidwe a 3D.
Mofananamo, tinagwiritsa ntchito AMF imodzi kuti tikonzenso kachidutswa kakang'ono kameneka kukhala tetrapod yogwira ntchito (mkuyu 8A).Malingaliro amayendedwe ndi mapulogalamu ndi ofanana ndi omwe akuwonetsedwa pa Chithunzi 3C.Komabe, m'malo mwa mapepala amakona anayi, anayamba kugwiritsa ntchito nsalu ndi chitsanzo cha quadrupedal (kamba, thonje muslin).Choncho, miyendo ndi yaitali ndipo mapangidwe amatha kukwezedwa pamwamba.Kutalika kwa kapangidwe kake kumawonjezeka pang'onopang'ono pansi pa kupanikizika mpaka miyendo yake ndi perpendicular pansi.Ngati mphamvu yolowera ikupitilira kukwera, miyendo imagwera mkati, kutsitsa kutalika kwa kapangidwe kake.Ma Tetrapods amatha kuyenda mozungulira ngati miyendo yawo ili ndi machitidwe osagwirizana kapena kugwiritsa ntchito ma AMF angapo okhala ndi njira zowongolera.Maloboti oyenda mofewa amafunikira pa ntchito zosiyanasiyana, kuphatikiza kupulumutsa kumoto wolusa, nyumba zogwa kapena malo owopsa, komanso maloboti operekera mankhwala azachipatala.
Nsaluyo imakonzedwanso kuti ipange mawonekedwe osintha mawonekedwe.(A) Gwirizanitsani AMF kumalire a pepala losasunthika, ndikulisintha kukhala chowongolera chamiyendo inayi.(BD) Zitsanzo zina ziwiri za kukonzanso minofu, kutembenuza agulugufe osagwira ntchito ndi maluwa kukhala achangu.Nsalu yosatambasula: thonje wamba muslin.
Timagwiritsanso ntchito mwayi wosavuta komanso wosiyanasiyana wa njira yosinthira minofuyi poyambitsanso zida ziwiri zowonjezera za bioinspired zokonzanso (Zithunzi 8B-D).Ndi AMF yosunthika, mawonekedwe opundukawa amasinthidwanso kuchokera pamapepala aminofu kupita kuzinthu zogwira ntchito komanso zowongolera.Mouziridwa ndi gulugufe wa monarch, tidapanga mawonekedwe agulugufe osinthika pogwiritsa ntchito nsalu yooneka ngati gulugufe (cotton muslin) ndi kachidutswa kakang'ono ka AMF kokakamira pansi pa mapiko ake.Pamene AMF ikupanikizika, mapiko amapinda.Monga Gulugufe wa Monarch, mapiko a Gulugufe wa Gulugufe kumanzere ndi kumanja amakupiza chimodzimodzi chifukwa onse amayendetsedwa ndi AMF.Zovala za butterfly ndizongowonetsera zokha.Sizingawuluke ngati Smart Bird (Festo Corp., USA).Tidapanganso maluwa ansalu (Chithunzi 8D) chokhala ndi magawo awiri a ma petals asanu.Tinayika AMF pansi pa wosanjikiza uliwonse pambuyo pa m'mphepete mwa kunja kwa pamakhala.Poyamba, maluwawo amakhala pachimake, ndipo ma petals onse amatseguka.Popanikizika, AMF imayambitsa kusuntha kwa ma petals, kuwapangitsa kuti atseke.Ma AMF awiriwa amayang'anira pawokha kusuntha kwa zigawo ziwirizo, pomwe tinthu tating'ono tating'ono tating'ono tating'ono timasinthasintha nthawi imodzi.
Nthawi yotumiza: Dec-26-2022