论文标题
带有可折叠伸缩执行器的仿生海胆机器人
Bionic Sea Urchin Robot with Foldable Telescopic Actuator
论文作者
论文摘要
本文提出了一些有趣的想法：伸缩执行器设计和生物启发的海胆机器人。海胆机器人的“刺”由14个望远镜执行器组成，该执行器均匀分布在其球体上。伸缩式驱动系统集成了链接的3D打印机架发音，如果小齿轮将链接移动到向前的方向，从而在所有轴上锁定，从而形成坚固且刚性的机架。因此，机器人能够通过扩展其刺来推动和移动。另一方面，如果小齿轮向后移动刚性的关节，则可以将其解锁，并可以在最小的空间中折叠，从而使仿生的海胆机器人可以将其脊椎藏在其约束的球体内并能够滚动。从海胆机器人原型和望远镜驱动系统的不同尺度进行了模拟和实验。
This paper presents a couple of interesting ideas: a telescopic actuator design and a bio-inspired sea urchin robot. The "spines" of the sea urchin robot consist of fourteen telescopic actuators equally distributed over it's spherical body. The telescopic actuation system integrates linked 3D printed rack articulations that are locked in all axes if the pinion moves the links in a forward direction, creating a solid and rigid rack. Thus, the robot is able to propel and move by extending its spines. On the other hand, if the pinion moves the rigid articulations backward, these are unlocked and can be folded in a minimal space, enabling the bionic sea urchin robot to hide its spines inside its constrained spherical-body and be able to roll. Simulations and experiments are presented from both, the sea urchin robotic prototype and different scales of the telescopic actuation system.
