论文标题
基于微图案的互感，用于软模块化机器人的柔性连接器
A Flexible Connector for Soft Modular Robots Based on Micropatterned Intersurface Jamming
论文作者
论文摘要
与传统机器人相比，软模块化机器人可以使与不断变化的环境更具灵活性和更安全的交互作用。但是，创建可以集成到软计算机中的可变形连接器仍然充满挑战。在这项工作中，我们提出了一个基于微图案间式式干扰的软模块化机器人的柔性连接器。该连接器由硅胶橡胶制造的微图案干粘合剂和带充气室的柔性主体组成，可积极接触和脱离接触。通过连接力测试，我们在线性方向和旋转干扰下评估了连接器的特性。该连接器可以稳定地支持平均最大负载22 N（连接器体重的83倍），在平面旋转下为10.86 N。拟议的连接器证明了在不提高系统整体刚度的情况下之间在软模块机器人之间建立强大连接的潜力。因此，保证了机器人系统的高灵活性。
Soft modular robots enable more flexibility and safer interaction with the changing environment than traditional robots. However, it has remained challenging to create deformable connectors that can be integrated into soft machines. In this work, we propose a flexible connector for soft modular robots based on micropatterned intersurface jamming. The connector is composed of micropatterned dry adhesives made by silicone rubber and a flexible main body with inflatable chambers for active engagement and disengagement. Through connection force tests, we evaluate the characteristics of the connector both in the linear direction and under rotational disruptions. The connector can stably support an average maximum load of 22 N (83 times the connector's body weight) linearly and 10.86 N under planar rotation. The proposed connector demonstrates the potential to create a robust connection between soft modular robots without raising the system's overall stiffness; thus guarantees high flexibility of the robotic system.
