论文标题

探索流体控制元件的管束逻辑

Tube-Balloon Logic for the Exploration of Fluidic Control Elements

论文作者

Tracz, Jovanna A., Wille, Lukas, Pathiraja, Dylan, Kendre, Savita V., Pfisterer, Ron, Turett, Ethan, Teran, Gus T., Abrahamsson, Christoffer K., Root, Samuel E., Lee, Won-Kyu, Preston, Daniel J., Jiang, Haihui Joy, Whitesides, George M., Nemitz, Markus P.

论文摘要

气动驱动的软机器人的控制通常需要电子设备。微控制器连接到开关阀门和泵开关的电源电子设备。作为最近的替代方案,已经引入了流体控制方法,其中软数字逻辑门可以在软系统中实现多种致动状态。这样的系统已经证明了不使用电子设备的自主行为。但是,流体控制器需要复杂的制造过程。为了使探索流体控制器的探索民主化,我们开发了管状逻辑电路,该电路由用吸管和气球制成的逻辑大门组成。每个管 - 波隆逻辑设备需要五分钟的新手来制造,费用为0.45美元。管式逻辑设备还可以在最高200 kPa的压力下运行,振荡速度高达15 Hz。我们将管式逻辑设备配置为非,NAND和NOR-GATES,然后将它们组装成三环振荡器,以演示将糖从米饭中分离出来的振动筛。由于管 - 波隆逻辑设备是低成本,易于制造的,而且其操作原理很简单,因此它们非常适合探索流体控制方案的基本概念,同时鼓励对气动驱动的软机器人进行设计查询

The control of pneumatically driven soft robots typically requires electronics. Microcontrollers are connected to power electronics that switch valves and pumps on and off. As a recent alternative, fluidic control methods have been introduced, in which soft digital logic gates permit multiple actuation states to be achieved in soft systems. Such systems have demonstrated autonomous behaviors without the use of electronics. However, fluidic controllers have required complex fabrication processes. To democratize the exploration of fluidic controllers, we developed tube-balloon logic circuitry, which consists of logic gates made from straws and balloons. Each tube-balloon logic device takes a novice five minutes to fabricate and costs $0.45. Tube-balloon logic devices can also operate at pressures of up to 200 kPa and oscillate at frequencies of up to 15 Hz. We configure the tube-balloon logic device as NOT-, NAND-, and NOR-gates and assemble them into a three-ring oscillator to demonstrate a vibrating sieve that separates sugar from rice. Because tube-balloon logic devices are low-cost, easy to fabricate, and their operating principle is simple, they are well suited for exploring fundamental concepts of fluidic control schemes while encouraging design inquiry for pneumatically driven soft robots

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