一种仿虎甲幼虫的多驱动器软体机器人的设计与制造

doi:10.13973/j.cnki.robot.180283

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胡兵兵, 金国庆. 一种仿虎甲幼虫的多驱动器软体机器人的设计与制造[J]. 机器人, 2018, 40(5): 626-633.DOI: 10.13973/j.cnki.robot.180283. HU Bingbing, JIN Guoqing. Design and Fabrication of a Multi-actuator Soft Robot Inspired by Young Tiger Beetle. ROBOT, 2018, 40(5): 626-633. DOI: 10.13973/j.cnki.robot.180283.

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摘要设计和制造了一种多驱动器软体机器人来模拟虎甲幼虫的爬行、转向和咬合运动．其中，软体机器人尾部采用多气囊式软体驱动器，实现了向前运动；软体机器人颈部采用纤维增强弯曲致动器，实现了转向运动；软体机器人头部采用形状记忆合金（SMA）弹簧驱动，实现了咬合运动．最后，模拟虎甲幼虫爬行捕捉小红果进行了实验，结果证明该软体机器人的多驱动器设计可以模拟虎甲幼虫进行复杂运动．

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	胡兵兵
	金国庆

关键词 ：多驱动器, 软体机器人, 虎甲幼虫, 3D 打印技术

Abstract：A multi-actuator soft robot is designed and fabricated to simulate the crawling, steering and occlusion movement of the young tiger beetle. Its tail is equipped with a multi-bladder soft actuator to realize the forward movement, its neck is equipped with a fiber reinforced bending actuator to realize the steering movement, and its head is driven by a shape memory alloy (SMA) spring to realize the occlusion motion. Finally, experiments are carried out to imitate a young tiger beetle to capture a tiny red fruit, and results show that complex motions of the young tiger beetle can be imitated by the soft robot owing to the multi-actuator design.

Key words： multi-actuator soft robot young tiger beetle 3D printing technology

收稿日期: 2018-04-15 录用日期: 2018-07-16

TP242

基金资助:国家自然科学基金（61773274）；华中科技大学数字制造装备与技术国家重点实验室开放课题（DMETKF2017013）；江苏省高校自然科学基金（164460019）

通讯作者: 金国庆,gqjin@suda.edu.cn E-mail: gqjin@suda.edu.cn

作者简介: 金国庆(1981-),男,博士,副教授.研究领域:软体机器人,3D打印,数字化设计与制造.
胡兵兵(1993-),男,硕士.研究领域:软体机器人,3D打印.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.180283 或 https://robot.sia.cn/CN/Y2018/V40/I5/626

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