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Yerekana karuseli ya sisitemu eshatu icyarimwe.Koresha Utubuto na Ibikurikira kugirango unyuze mumashusho atatu icyarimwe, cyangwa ukoreshe utubuto twa slide kumpera kugirango wimuke unyuze mubice bitatu icyarimwe.
Guhuza imyenda n'imitsi yubukorikori kugirango bikore imyenda yubwenge bikurura abantu benshi haba mubumenyi ninganda.Imyenda yubwenge itanga inyungu nyinshi, zirimo ihumure ryimihindagurikire hamwe nu rwego rwo hejuru rwo guhuza nibintu mugihe utanga ibikorwa bifatika byimikorere n'imbaraga.Iyi ngingo irerekana icyiciro gishya cyimyenda yubwenge ishobora guterwa ikozwe hakoreshejwe uburyo butandukanye bwo kuboha, kuboha no gufunga amazi atwarwa nudusimba twimitsi.Icyitegererezo cy'imibare cyakozwe kugirango gisobanure igipimo cyimbaraga zo kurambura impapuro zidoda kandi ziboheye, hanyuma agaciro kayo kageragezwa mubigeragezo.Imyenda mishya "yubwenge" igaragaramo ibintu byoroshye guhinduka, guhuza, hamwe na progaramu ya mashini, ituma uburyo bwinshi bwo kugenda hamwe nubushobozi bwo guhindura ibintu muburyo bwagutse bwa porogaramu.Porotipi zitandukanye zubwenge zakozwe hifashishijwe igeragezwa ryikigereranyo, harimo uburyo butandukanye bwo guhindura imiterere nko kurambura (kugeza kuri 65%), kwaguka kwakarere (108%), kwaguka kwa radiyo (25%), no kugunama.Igitekerezo cyo kongera guhindura ibice gakondo byimyanya myubakire mubikorwa byubaka biomimetic shaping structure nabyo birashakishwa.Biteganijwe ko imyenda yubwenge iteganijwe yorohereza iterambere ryimyenda yubwenge, sisitemu ya haptic, robot yoroshye ya biomimetike, hamwe na elegitoroniki ishobora kwambara.
Imashini zikomeye zifite akamaro iyo zikora mubidukikije, ariko zifite ibibazo bijyanye nuburyo butazwi bwo guhindura ibidukikije, bigabanya imikoreshereze yabyo mubushakashatsi cyangwa mubushakashatsi.Kamere ikomeje kudutangaza ningamba nyinshi zo guhanga kugirango duhangane nibintu byo hanze kandi bitandukanye.Kurugero, amasoko yibimera azamuka akora ibintu byinshi, nko kunama no kuzunguruka, kugirango ashakishe ibidukikije bitazwi ashakisha inkunga ikwiye1.Isazi ya Venus (Dionaea muscipula) ifite imisatsi yoroheje ku mababi yayo, iyo itangiye, ifata ahantu kugirango ifate umuhigo2.Mu myaka yashize, guhindura cyangwa guhindura imibiri kuva hejuru yuburyo bubiri (2D) kugeza kubice bitatu (3D) bigana imiterere yibinyabuzima byabaye ingingo yubushakashatsi bushimishije3,4.Ibikoresho byoroshye bya robotic bihindura imiterere kugirango ihuze nibidukikije bihinduka, itume lokomisiyo yimikorere myinshi, kandi ikoreshe imbaraga zo gukora imirimo yubukanishi.Kugera kwabo kwageze kumurongo mugari wa porogaramu za robo, zirimo zoherezwa5, zisubirwamo kandi zikizunguruka robot 6,7, ibikoresho bya biomedical8, ibinyabiziga9,10 hamwe na elegitoroniki yaguka11.
Ubushakashatsi bwinshi bwakozwe mugutezimbere plaque zishobora gukoreshwa, iyo zikoreshejwe, zihinduka muburyo butatu-buke3.Igitekerezo cyoroshye cyo gukora imiterere ihindagurika ni uguhuza ibice byibikoresho bitandukanye bihindagurika kandi bikabyimba iyo bihuye nibitera12,13.Janbaz n'abandi.14 na Li n'abandi.15 bashyize mubikorwa iki gitekerezo cyo gukora robot-yubushyuhe bukabije bwimashini za robo.Inzego zishingiye kuri Origami zirimo ibintu bitera imbaraga-zishubije byakoreshejwe mugukora ibintu bigoye-bitatu-16,17,18.Ahumekewe na morfogenezi yimiterere yibinyabuzima, Emmanuel nibindi.Imiterere-yimiterere ya elastomers ikorwa mugutegura imiyoboro yumuyaga hejuru ya reberi, iyo igitutu, ihinduka muburyo butoroshye, butatu.
Kwinjiza imyenda cyangwa imyenda muri robo yoroshye yimashini ni undi mushinga mushya watanze inyungu nyinshi.Imyenda ni ibikoresho byoroshye kandi byoroshye bikozwe mubudodo muburyo bwo kuboha nko kuboha, kuboha, kuboha, cyangwa kuboha ipfundo.Imiterere itangaje yimyenda, harimo guhinduka, gukwira, kworoha no guhumeka, bituma ikundwa cyane mubintu byose uhereye kumyenda kugeza mubuvuzi20.Hariho uburyo butatu bwagutse bwo kwinjiza imyenda muri robotics21.Uburyo bwa mbere nugukoresha imyenda nkumugongo winyuma cyangwa shingiro kubindi bice.Muri iki gihe, imyenda ya pasiporo itanga uburyo bwiza kubakoresha mugihe batwaye ibice bikomeye (moteri, sensor, amashanyarazi).Imashini nyinshi zoroshye kwambara cyangwa exoskeletons yoroshye igwa murubu buryo.Kurugero, byoroshye kwambara exoskeletons kubikoresho bifasha kugenda 22 nubufasha bwinkokora 23, 24, 25, uturindantoki tworoshye kwambara 26 kubikoresho bifasha intoki nintoki, hamwe na robot yoroshye ya bionic 27.
Uburyo bwa kabiri ni ugukoresha imyenda nkibintu byoroshye kandi bigizwe nibikoresho byoroshye bya robo.Imyenda ishingiye ku myenda iri muri iki cyiciro, aho usanga umwenda wubatswe nkigikoresho cyo hanze kugirango kirimo imbere cyangwa icyumba cyimbere, bikora fibre yoroshye ikomeza imbaraga.Iyo ikorewe isoko ya pneumatike cyangwa hydraulic yo hanze, ibyo byuma byoroheje bigenda bihinduka mumiterere, harimo kurambura, kunama cyangwa kugoreka, ukurikije imiterere yabyo nuburyo byagenwe.Kurugero, Talman n'abandi.Imyenda y'amagufwa ya orthopedic, igizwe nurukurikirane rw'imifuka y'imyenda, yatangijwe kugirango byorohereze ibimera kugirango bigarure gait28.Imyenda yimyenda ifite ubugari butandukanye irashobora guhuzwa kugirango ikore anisotropique 29.Uruhu rwa OmniSkins - uruhu rworoshye rwa robo rwakozwe muburyo butandukanye bworoshye kandi bukoresha ibikoresho bya substrate birashobora guhindura ibintu byoroshye muburyo bwimikorere ya robo ikora ibintu byinshi bishobora gukora ibintu byinshi kandi bigahinduka mubikorwa bitandukanye.Zhu n'abandi.Bateje imbere imitsi yimitsi 31 ishobora kubyara kuramba, kunama, no guhindura ibintu bitandukanye.Buckner n'abandi.Shyiramo fibre ikora mubice bisanzwe kugirango ukore uturemangingo twa robo dufite imirimo myinshi nka actuation, sensing, na variable stiffness32.Ubundi buryo muriki cyiciro urashobora kubusanga muriyi mpapuro 21, 33, 34, 35.
Uburyo bwa vuba bwo gukoresha imitungo isumba iyindi yimyenda mubijyanye na robo yoroheje ni ugukoresha filaments zidasanzwe cyangwa zitera imbaraga zo gukora imyenda yubwenge hakoreshejwe uburyo gakondo bwo gukora imyenda nko kuboha, kuboha no kuboha 21,36,37.Ukurikije ibice bigize ibikoresho, ubudodo budasanzwe butera ihinduka ryimiterere iyo ikorewe amashanyarazi, ubushyuhe cyangwa igitutu, biganisha ku guhindura imyenda.Muri ubu buryo, aho imyenda gakondo yinjizwa muri sisitemu yoroshye ya robo, kuvugurura imyenda bibaho kumurongo wimbere (ubudodo) aho kuba hanze.Nkibyo, imyenda yubwenge itanga uburyo bwiza muburyo bwimikorere ya multimodal, deformable programme, kurambura, hamwe nubushobozi bwo guhindura gukomera.Kurugero, shiraho ububiko bwibikoresho (SMAs) hamwe na polymers yibuka (SMPs) birashobora kwinjizwa mubitambaro kugirango bigenzure neza imiterere yabyo binyuze mumashanyarazi, nka hemming38, kuvanaho iminkanyari 36,39, ibitekerezo bya tactile na tactile40,41, hamwe no guhuza n'imiterere. imyenda ishobora kwambara.ibikoresho 42.Nyamara, gukoresha ingufu zumuriro mugushyushya no gukonjesha bivamo gusubiza buhoro no gukonjesha no kugenzura.Vuba aha, Hiramitsu n'abandi.Imitsi myiza ya McKibben 43,44, imitsi yubukorikori ya pneumatike, ikoreshwa nkudodo twintambara kugirango dukore ubwoko butandukanye bwimyenda ikora muguhindura imiterere yububoshyi45.Nubwo ubu buryo butanga imbaraga nyinshi, kubera imiterere yimitsi ya McKibben, igipimo cyayo cyo kwaguka ni gito (<50%) kandi ingano nto ntishobora kugerwaho (diameter <0,9 mm).Mubyongeyeho, byagoye gukora imiterere yubudodo bwubwenge buva muburyo bwo kuboha busaba inguni zikarishye.Gukora urwego runini rwimyenda yubwenge, Maziz nibindi.Imyenda yambara yamashanyarazi yatejwe imbere no kuboha no kuboha amashanyarazi ya polymer.
Mu myaka yashize, hagaragaye ubwoko bushya bwimitsi yubukorikori ya termosensitifike, yubatswe kuva fibre ihindagurika cyane, ihendutse ya polymer fibre 47,48.Iyi fibre iraboneka mubucuruzi kandi byoroshye kwinjizwa mububoshyi cyangwa kuboha kugirango bitange imyenda yubwenge ihendutse.Nubwo hari iterambere, iyi myenda mishya itumva ubushyuhe ifite igihe gito cyo gusubiza bitewe no gukenera gushyushya no gukonjesha (urugero: imyenda igenzurwa nubushyuhe) cyangwa ingorane zo gukora ibishushanyo biboheye kandi bikozwe mubudodo bishobora gutegurwa kugirango habeho guhindagurika no kugenda. .Ingero zirimo kwaguka kwa radiyo, 2D kugeza 3D guhindura imiterere, cyangwa kwaguka-byerekezo, ibyo dutanga hano.
Kugira ngo dukemure ibyo bibazo bimaze kuvugwa, iyi ngingo irerekana imyenda mishya itwarwa n’imyenda ikozwe mu myenda yakozwe vuba aha (AMF) 49,50,51.AMF iroroshye guhinduka, irashobora gupimwa kandi irashobora kugabanuka kugera kuri diameter ya mm 0.8 n'uburebure bunini (byibuze mm 5000), itanga igipimo kinini (uburebure na diameter) kimwe no kuramba cyane (byibuze 245%), ingufu nyinshi gukora neza, munsi ya 20Hz igisubizo cyihuse).Kurema imyenda yubwenge, dukoresha AMF nkumugozi ukora kugirango dukore 2D imitsi ikora binyuze muburyo bwo kuboha no kuboha.Twize ku buryo bugaragara igipimo cyo kwaguka n'imbaraga zo kugabanya izo nyama “zifite ubwenge” ukurikije ubwinshi bw'amazi n'umuvuduko watanzwe.Ingero zisesengura zashyizweho kugirango zishyireho imbaraga zo kurambura kumpapuro ziboheye.Turasobanura kandi uburyo butandukanye bwo gutangiza imashini zikoreshwa muburyo bwimyenda yimyenda yimikorere ya multimodal, harimo kwagura ibyerekezo byombi, kunama, kwaguka kwinshi, hamwe nubushobozi bwo kuva kuri 2D ujya kuri 3D.Kugirango tugaragaze imbaraga zuburyo bwacu, tuzahuza kandi AMF mubitambaro byubucuruzi cyangwa imyenda kugirango duhindure iboneza ryavuye muburyo bworoshye butera imikorere itandukanye.Twerekanye kandi iki gitekerezo ku ntebe nyinshi zigeragezwa zigeragezwa, zirimo gahunda yo kugorora imigozi kugirango itange inyuguti zifuzwa hamwe n’ibinyabuzima bihindura imiterere y’ibinyabuzima nkibinyugunyugu, inyubako enye n’indabyo.
Imyenda ihindagurika yuburyo bubiri buringaniye bukozwe mumurongo umwe uhujwe nkurudodo, urudodo na fibre.Imyenda ni bumwe mu buhanga bwa kera bwabantu kandi bukoreshwa cyane mubice byose byubuzima bitewe nuburyo bworoshye, guhuza n'imiterere, guhumeka, ubwiza no kurinda.Imyenda yubwenge (izwi kandi nkimyenda yubwenge cyangwa imyenda ya robo) iragenda ikoreshwa mubushakashatsi bitewe nubushobozi bwabo bukomeye mubikorwa bya robo20,52.Imyenda yubwenge isezeranya kunoza uburambe bwumuntu bwo gukorana nibintu byoroshye, bitangiza ihinduka ryimiterere mumurima aho imbaraga nimbaraga zimyenda yoroheje ishobora kugenzurwa kugirango ikore imirimo yihariye.Muri iyi nyandiko, turasesengura uburyo bubiri bwo gukora imyenda yubwenge dushingiye kuri AMF49 iheruka: (1) koresha AMF nkumugozi ukora mugukora imyenda yubwenge ukoresheje tekinoroji gakondo yo gukora imyenda;(2) shyiramo AMF mu myenda gakondo kugirango ushishikarize kugenda no guhinduka.
AMF igizwe numuyoboro wa silicone w'imbere kugirango utange ingufu za hydraulic hamwe na coil yo hanze kugirango igabanye kwaguka kwayo.Niyo mpamvu, AMF iramba igihe kirekire iyo igitutu gishyizwe hanyuma kigaragaza imbaraga zamasezerano kugirango zisubire muburebure bwazo mugihe igitutu kirekuwe.Bafite imitungo isa na fibre gakondo, harimo guhinduka, diameter nto n'uburebure.Ariko, AMF irakora cyane kandi igenzurwa mubijyanye no kugenda n'imbaraga kuruta bagenzi babo basanzwe.Twatewe inkunga niterambere ryihuse mumyenda yubwenge, hano turerekana uburyo bune bwingenzi bwo gukora imyenda yubwenge dukoresheje AMF mubuhanga bumaze igihe kinini bwo gukora imyenda (Ishusho 1).
Inzira ya mbere ni ukuboha.Twifashishije tekinoroji yo kuboha kugirango tubyare imyenda idoze igaragara mucyerekezo kimwe iyo ikora neza.Impapuro ziboheye zirambuye cyane kandi zirambuye ariko zikunda gupfundura byoroshye kuruta amabati.Ukurikije uburyo bwo kugenzura, AMF irashobora gukora umurongo kugiti cye cyangwa ibicuruzwa byuzuye.Usibye impapuro ziringaniye, uburyo bwo kuboha tubular burakenewe no gukora ibikoresho byubusa bya AMF.Uburyo bwa kabiri ni ukuboha, aho dukoresha AMF ebyiri nka warp na weft kugirango dukore urupapuro rudoze rw'urukiramende rushobora kwaguka rwigenga mubyerekezo bibiri.Impapuro ziboheye zitanga igenzura ryinshi (mubyerekezo byombi) kuruta impapuro ziboheye.Twiboheye kandi AMF kuva mubudodo gakondo kugirango dukore urupapuro rworoshye rushobora gusa kuba rudashobora kwerekanwa muburyo bumwe.Uburyo bwa gatatu - kwaguka kwa radiyo - ni itandukaniro ryubuhanga bwo kuboha, aho AMP iherereye ntabwo ari murukiramende, ahubwo ni umuzenguruko, kandi insinga zitanga imbogamizi ya radiyo.Muri iki kibazo, igituba cyaguka cyane munsi yumuvuduko winjira.Uburyo bwa kane ni ugushyira AMF kurupapuro rwimyenda ya pasiporo kugirango habeho kugoreka icyerekezo cyifuzwa.Twahinduye ikibaho cya pasiporo yamenetse muburyo bukomeye bwo gucamo dukoresheje AMF ikikije inkombe zayo.Iyi miterere ya programme ya AMF ifungura ibishoboka bitabarika kuri bio-yahinduwe imiterere-ihindura imiterere yoroshye aho dushobora guhindura ibintu byoroshye mubikorwa.Ubu buryo buroroshye, bworoshye, kandi bwihuse, ariko burashobora guhungabanya kuramba kwa prototype.Umusomyi yerekejwe kubundi buryo mubuvanganzo busobanura imbaraga n'intege nke za buri mutungo wa tissue21,33,34,35.
Imitwe myinshi cyangwa ubudodo bukoreshwa mugukora imyenda gakondo irimo ibyubaka.Muriyi mirimo, dukoresha AMF twateje imbere, ishobora kugera kuri metero z'uburebure na diametre ya subillimetero, kugirango dusimbuze imyenda gakondo yimyenda yimyenda hamwe na AFM kugirango dukore imyenda yubwenge kandi ikora kuburyo bwagutse bwa porogaramu.Ibice bikurikira bisobanura uburyo burambuye bwo gukora prototypes yubwenge kandi ikerekana ibikorwa byingenzi nimyitwarire.
Twakoze imyenda itatu ya AMF dukoresheje tekinike yo kuboha (Ishusho 2A).Guhitamo ibikoresho nibisobanuro birambuye kuri AMFs na prototypes murashobora kubisanga mubice byuburyo.Buri AMF ikurikira inzira ihindagurika (nanone yitwa inzira) ikora uruziga.Umuzingo wa buri murongo ushyizwe hamwe nu murongo wimirongo hejuru no munsi yawo.Impeta yinkingi imwe itondekanye kumasomo ihujwe mumutwe.Porotype yacu yububiko igizwe n'imirongo itatu yubudozi burindwi (cyangwa ubudozi burindwi) kuri buri murongo.Impeta yo hejuru no hepfo ntabwo ikosowe, kuburyo dushobora kuyihuza ninkoni zijyanye nicyuma.Porotipi yububiko yapfunduye byoroshye kuruta imyenda isanzwe iboheye kubera gukomera kwa AMF ugereranije nudodo dusanzwe.Kubwibyo, twahambiriye imirongo y'imirongo yegeranye n'imigozi yoroheje.
Porotipire zitandukanye zubwenge zirimo gushyirwa mubikorwa hamwe na AMF itandukanye.(A) Impapuro ziboheye zakozwe muri AMF eshatu.(B) Impapuro ziboheye zibiri za AMF ebyiri...Ibisobanuro birambuye murashobora kubisanga mugice cyuburyo.
Nubwo imirongo ya zigzag yububoshyi irashobora kurambura mubyerekezo bitandukanye, imyenda yacu ya prototype iraguka cyane cyane mubyerekezo byizunguruka munsi yigitutu kubera imbogamizi mubyerekezo byurugendo.Kurambura kwa buri AMF bigira uruhare mu kwagura ubuso bwuzuye bwurupapuro.Dukurikije ibisabwa byihariye, turashobora kugenzura AMF eshatu twigenga biturutse kumasoko atatu atandukanye (Igicapo 2A) cyangwa icyarimwe biva mumasoko amwe binyuze mumashanyarazi 1 kugeza kuri 3.Ku mutini.2A yerekana urugero rwa prototype yububiko, agace kambere kiyongereyeho 35% mugihe ushyira ingufu kuri AMP eshatu (1.2 MPa).Ikigaragara ni uko AMF igera ku ntera ndende byibura 250% yuburebure bwumwimerere 49 bityo impapuro ziboheye zirashobora kurambura ndetse kuruta verisiyo zubu.
Twakoze kandi impapuro zibiri zibiri zakozwe muri AMF ebyiri dukoresheje tekinike yo kuboha (Ishusho 2B).AMF yintambara hamwe nubudodo bifatanye kumpande iburyo, bikora uburyo bworoshye bwambukiranya imipaka.Ububoshyi bwa prototype bwashyizwe mubikorwa nkuburinganire buringaniye kuko imyenda yintambara hamwe nubudodo bwakozwe mubunini bumwe (reba igice cya Methods kubirambuye).Bitandukanye nuudodo dusanzwe dushobora gukora ibice bikarishye, AMF ikoreshwa isaba radiyo igoramye mugihe ugarutse kurundi rudodo rwububoshyi.Kubwibyo, impapuro ziboheye zakozwe muri AMP zifite ubucucike buke ugereranije nimyenda isanzwe.Ubwoko bwa AMF S (diameter yo hanze 1,49 mm) ifite byibura radiyo yunamye ya mm 1.5.Kurugero, ubudodo bwa prototype twerekanye muriki kiganiro bufite ishusho ya 7 × 7 aho buri sangano rihagaze neza hamwe n ipfundo ryumugozi woroshye.Ukoresheje tekinike imwe yo kuboha, urashobora kubona imirongo myinshi.
Iyo AMF ihuye nayo yakira umuvuduko wamazi, urupapuro rukozwe rwagura ubuso bwarwo mu cyerekezo cyintambara.Kubwibyo, twagenzuye ibipimo byurupapuro (uburebure n'ubugari) duhindura twigenga ubwinshi bwumuvuduko winjira wakoreshejwe kuri AMP ebyiri.Ku mutini.2B yerekana prototype yiboheye yagutse igera kuri 44% yubuso bwayo bwambere mugihe ikoresha igitutu kuri AMP imwe (1.3 MPa).Hamwe nigikorwa icyarimwe cyumuvuduko kuri AMF ebyiri, agace kiyongereyeho 108%.
Twakoze kandi urupapuro rudoze ruterekejwe kuri AMF imwe hamwe nudodo twa warp na acrylic nkubudodo (Ishusho 2C).AMF itondekanye mumirongo irindwi ya zigzag kandi imigozi iboha iyi mirongo ya AMF hamwe kugirango ikore urupapuro rwurukiramende.Iyi prototype yaboshywe yari yuzuye kuruta ku gishushanyo cya 2B, tubikesha insinga zoroshye za acrylic zuzuza byoroshye urupapuro rwose.Kuberako dukoresha AMF imwe gusa nkintambara, urupapuro rwiboheye rushobora kwaguka gusa rugana kurugamba.Igishushanyo 2C cyerekana urugero rwa prototype ikozwe ahantu hambere hiyongeraho 65% hamwe n’umuvuduko wiyongera (1.3 MPa).Byongeye kandi, iki gice gikozwe (gipima garama 2,6) kirashobora guterura umutwaro wa garama 500, wikubye inshuro 192 ubwinshi bwacyo.
Aho gutondekanya AMF muburyo bwa zigzag kugirango dukore urupapuro ruboheye urukiramende, twahimbye ishusho iringaniye ya AMF, hanyuma ihagarikwa cyane nudodo twa pamba kugirango dukore urupapuro ruzengurutse (Ishusho 2D).Ubukomezi bukabije bwa AMF bugabanya kuzuza akarere ko hagati cyane.Nyamara, iyi padi irashobora gukorwa mubudodo bworoshye cyangwa imyenda ya elastique.AMP imaze kubona umuvuduko wa hydraulic, AMP ihindura uburebure bwayo ndende mu kwaguka kwinshi kurupapuro.Birakwiye kandi kumenya ko diametre yinyuma ninyuma yimiterere ya spiral yiyongera kubera kugabanuka kwimirasire ya filaments.Igishushanyo 2D cyerekana ko hamwe n’umuvuduko ukabije wa hydraulic ya MPa 1, imiterere yurupapuro ruzenguruka igera kuri 25% yubuso bwambere.
Turerekana hano uburyo bwa kabiri bwo gukora imyenda yubwenge aho duhambira AMF kumyenda iringaniye hanyuma tukayishushanya kuva kuri pasiporo kugeza kumikorere igenzurwa cyane.Igishushanyo mbonera cya disiki igoramye irerekanwa mugitabo.3A, aho AMP yiziritse hagati hanyuma ikomekwa ku mugozi wigitambara kidasobanutse (umwenda wa muslin pamba) ukoresheje kaseti y'impande ebyiri nkigiti.Bimaze gufungwa, hejuru ya AMF irekuwe kwaguka, mugihe hepfo igarukira kuri kaseti nigitambara, bigatuma umurongo wunama werekeza kumyenda.Turashobora guhagarika igice icyo aricyo cyose cyimikorere igoramye aho twomekaho gusa kaseti.Igice cyakuweho ntigishobora kwimuka kandi gihinduka igice gusa.
Imyenda yongeye gushyirwaho mugushyira AMF kumyenda gakondo..(B) Kwunama kwa prototype.(C) Guhindura imyenda y'urukiramende muri robo ikora amaguru ane.Imyenda idahwitse: ipamba.Kurambura imyenda: polyester.Ibisobanuro birambuye murashobora kubisanga mugice cyuburyo.
Twakoze prototype nyinshi yunama ikora muburebure butandukanye hanyuma tuyihatira hamwe na hydraulics kugirango dukore icyerekezo (Igishusho 3B).Icyangombwa, AMF irashobora gushyirwa kumurongo ugororotse cyangwa ikazunguruka kugirango ikore imigozi myinshi hanyuma ikomekwa kumyenda kugirango ikore disike igoramye hamwe numubare ukwiye wurudodo.Twahinduye kandi urupapuro rwimyenda ya pasitoro muburyo bwa tetrapod ikora (Igicapo 3C), aho twakoresheje AMF kugirango duhuze imbibi zurukiramende rwurukiramende (umwenda wa muslin).AMP yometse kumyenda hamwe nigice cya kaseti ebyiri.Hagati ya buri mpande zafashwe kugirango zihinduke, mugihe impande enye ziguma zikora.Kurambura umwenda wo hejuru (polyester) birashoboka.Inguni enye z'igitambara zunamye (zisa n'amaguru) iyo ukanze.
Twubatse intebe yikizamini kugirango twige umubare wimiterere yimyenda yubwenge yateye imbere (reba igice cya Methods hamwe ninyongera S1).Kubera ko ingero zose zakozwe muri AMF, icyerekezo rusange cyibisubizo byubushakashatsi (Igicapo 4) gihuye nibintu nyamukuru biranga AMF, aribyo, umuvuduko winjira uhwanye neza no kurambura gusohoka kandi bigereranywa nimbaraga zo guhonyora.Nyamara, iyi myenda yubwenge ifite ibiranga byihariye byerekana imiterere yihariye.
Ibiranga imyenda yubwenge..(C) Kwagura ubuso bwurupapuro..(F) Kwagura ubuso bwagutse muburyo bwagutse.(G) Inguni zunamye z'uburebure butatu butandukanye bwa drives.
Buri AMF y'urupapuro rwaboshywe yakorewe igitutu cya MPa 1 kugirango habeho kurambura 30% (Ishusho 4A).Twahisemo iyi mbago kubigeragezo byose kubwimpamvu nyinshi: (1) kugirango habeho kurambura gukomeye (hafi 30%) kugirango dushimangire umurongo wa hystereze, (2) kugirango wirinde gusiganwa ku magare kubushakashatsi butandukanye hamwe na prototypes yongeye gukoreshwa bikaviramo kwangirika kubwimpanuka cyangwa gutsindwa..munsi yumuvuduko mwinshi.Agace kapfuye kagaragara neza, kandi igitereko gikomeza kugenda kugeza umuvuduko winjira ugeze kuri 0.3 MPa.Umuvuduko wo kurambura hystereze yerekana ikinyuranyo kinini hagati yo kuvoma no kurekura ibyiciro, byerekana ko hari igihombo kinini cyingufu mugihe urupapuro rwiboheye ruhinduye icyerekezo kuva kwaguka kugera kugabanuka.(Isanamu 4A).Nyuma yo kubona umuvuduko winjira wa MPa 1, urupapuro rwiboheye rushobora gukoresha imbaraga zo kwikuramo 5.6 N (Ishusho 4B).Umuvuduko-imbaraga hystereze umugambi urerekana kandi ko gusubiramo umurongo bigarukira hafi hamwe nigitutu cyubaka.Kwagura ubuso bwurupapuro rwiboheye byaterwaga nubunini bwumuvuduko ukoreshwa kuri buri AMFs ebyiri, nkuko bigaragara mubibanza bya 3D (Ishusho 4C).Ubushakashatsi bwerekana kandi ko urupapuro rwiboheye rushobora gutanga ubuso bwagutse bwa 66% mugihe warwo hamwe na AMFs yabyo icyarimwe ikorerwa igitutu cya hydraulic ya MPa 1.
Ibisubizo byubushakashatsi kumpapuro ziboheye byerekana ishusho isa nimpapuro ziboheye, harimo icyuho kinini cya hystereze mugishushanyo mbonera cyumuvuduko ukabije hamwe nigitutu cyingutu.Urupapuro ruboheye rwerekanaga uburebure bwa 30%, nyuma yingufu zo guhonyora zari 9 N kumuvuduko winjira wa MPa 1 (Ishusho 4D, E).
Ku bijyanye n'urupapuro ruzengurutse, ubuso bwarwo bwiyongereyeho 25% ugereranije n'ahantu ha mbere nyuma yo guhura n'umuvuduko w'amazi wa MPa 1 (Ishusho 4F).Mbere yuko icyitegererezo gitangira kwaguka, hari ahantu hanini h’umuvuduko wimbere ugera kuri 0.7 MPa.Aka gace kanini kapfuye kari kateganijwe kuko ingero zakozwe muri AMF nini zisaba imbaraga nyinshi kugirango batsinde imihangayiko yabo ya mbere.Ku mutini.4F irerekana kandi ko umurongo wo kurekura hafi ya byose bihura nigitutu cyongera umurongo, byerekana gutakaza ingufu nke mugihe disiki yahinduwe.
Ibisubizo byubushakashatsi kubintu bitatu byunamye (tissue reconfiguration) byerekana ko imirongo ya hystereze ifite imiterere isa (Igicapo 4G), aho bahura nigitutu cyumuvuduko winjira kuri MPa 0.2 mbere yo guterura.Twashyizeho urugero rumwe rwamazi (0,035 ml) kuri drives eshatu zigoramye (L20, L30 na L50 mm).Nyamara, buri mukoresha yahuye nigitutu cyumuvuduko kandi agateza impande zitandukanye.Imashini ya L20 na L30 yahuye n’umuvuduko wa 0,72 na 0,67 MPa, igera ku mpande zigana kuri 167 ° na 194 °.Ikinyabiziga kirekire cyane (uburebure bwa mm 50) cyihanganiye umuvuduko wa MPa 0,61 kandi kigera ku mpande nini ya 236 °.Ibibanza byerekana umuvuduko wa hystereze kandi byagaragaje itandukaniro rinini hagati yigitutu no kurekura umurongo kuri drives zose uko ari eshatu.
Isano iri hagati yubunini bwinjiza nibisohoka (kurambura, imbaraga, kwaguka kwakarere, kugonda inguni) kubintu byavuzwe haruguru byubwenge bwimyenda irashobora kuboneka mugishushanyo cya S2.
Ibisubizo byubushakashatsi mubice byabanjirije byerekana neza isano iri hagati yumuvuduko ukoreshwa winjiza no kuramba kwa AMF.Uko AMB ikomera, niko kurambura gutera imbere nimbaraga nyinshi zoroshye.Kubwibyo, nini imbaraga zo kwikuramo imbaraga.Ibisubizo byerekanaga kandi ko ingero zageze ku mbaraga nini zo kwikuramo igihe igitutu cyo kwinjira cyakuweho burundu.Iki gice kigamije gushyiraho umubano utaziguye hagati yo kurambura nimbaraga nini zo kugabanuka kwimpapuro ziboheye kandi zikozwe muburyo bwo gusesengura no kugenzura ubushakashatsi.
Imbaraga ntarengwa zamasezerano Fout (kumuvuduko winjira P = 0) ya AMF imwe yatanzwe muri ref 49 hanyuma igarurwa muburyo bukurikira:
Muri byo, α, E, na A0 ni ibintu birambura, Modulus ya Young, hamwe nu gice cyambukiranya umuyoboro wa silicone;k ni coefficient ya stiffness ya coil spiral;x na li birengerwa n'uburebure bwambere.AMP.
ikigereranyo gikwiye.(1) Fata impapuro ziboheye kandi ziboheye nk'urugero (Ishusho 5A, B).Imbaraga zo kugabanya ibicuruzwa biboheye Fkv nibicuruzwa biboheye Fwh bigaragazwa nuburinganire (2) na (3).
aho mk numubare wibizunguruka, φp ni impande zinguni zumwenda uboshye mugihe cyo gutera inshinge (Igishusho 5A), mh numubare wudodo, θhp ni inguni yo gusezerana yimyenda iboshye mugihe cyo gutera inshinge (Ishusho 5B), εkv εwh ni urupapuro rudoze hamwe no guhindura urupapuro rwaboshywe, F0 nuburemere bwambere bwa coil spiral.Inkomoko irambuye yo kugereranya.(2) na (3) murashobora kubisanga mumakuru yunganira.
Kora icyitegererezo cyo gusesengura umubano-imbaraga.(A, B) Isesengura ryerekana icyitegererezo kumpapuro ziboheye kandi ziboheye.(C, D) Kugereranya imiterere yisesengura namakuru yubushakashatsi kumpapuro ziboheye kandi ziboheye.Imizi ya RMSE isobanura ikosa rya kare.
Kugirango dusuzume icyitegererezo cyateye imbere, twakoze ubushakashatsi bwo kurambura dukoresheje ibishushanyo biboheye ku gishushanyo cya 2A hamwe nicyitegererezo kiboheye ku gishushanyo cya 2B.Imbaraga zo gukurura zapimwe mubyiyongereyeho 5% kuri buri kwaguka gufunze kuva 0% kugeza 50%.Gutandukana no kugereranya ibigeragezo bitanu byerekanwe mubishusho 5C (kuboha) no gushushanya 5D (kuboha).Imirongo yuburyo bwo gusesengura isobanurwa nuburinganire.Ibipimo (2) na (3) byatanzwe mu mbonerahamwe.1. Ibisubizo byerekana ko icyitegererezo cyisesengura gihuye neza namakuru yubushakashatsi hejuru yurwego rwose rwo kurambura hamwe numuzi bivuze ikosa rya kare (RMSE) rya 0.34 N kumyenda yububoshyi, 0.21 N kuboha AMF H (icyerekezo cya horizontal) na 0.17 N kuboha AMF.V (icyerekezo gihagaritse).
Usibye ibikorwa byibanze, imyenda yubwenge yatanzwe irashobora gutegurwa muburyo bwa tekinike kugirango itange ibintu bigoye nka S-bend, kugabanuka kwa radiyo, na 2D kugeza 3D.Turerekana hano uburyo bwinshi bwo gutangiza imyenda yubwenge yubwenge muburyo bwifuzwa.
Usibye kwagura indangarubuga mucyerekezo cyumurongo, impapuro ziboheye zidafite icyerekezo zishobora gutegurwa muburyo bwo gukora ibintu byinshi (Ishusho 6A).Twongeye gushushanya kwagura urupapuro rushyizweho nkigikorwa cyo kugunama, kubuza imwe mumaso yayo (hejuru cyangwa hepfo) hamwe nuudodo.Amabati akunda kugana hejuru yumupaka munsi yigitutu.Ku mutini.6A yerekana ingero ebyiri zimbaho ziboheye zihinduka S-mugihe igice kimwe gifatanye kuruhande rwo hejuru ikindi gice kikaba gifatanye kuruhande rwo hasi.Ubundi, urashobora gukora uruziga ruzengurutse aho isura yose ibujijwe.Urupapuro ruterekejweho icyerekezo kimwe rushobora no gukorwa muburyo bwo guhunika uhuza impande zombi muburyo bwa tubular (Ishusho 6B).Urutoki rwambarwa hejuru y'urutoki rw'umuntu kugirango rutange compression, uburyo bwo kuvura massage kugirango ugabanye ububabare cyangwa utezimbere.Irashobora gupimwa kugirango ihuze ibindi bice byumubiri nkamaboko, ikibuno, namaguru.
Ubushobozi bwo kuboha impapuro mu cyerekezo kimwe.(A) Kurema imiterere ihindagurika bitewe na programme yuburyo bwimyenda idoda.(B) Urutoki rwo kwikuramo urutoki...Ibisobanuro birambuye murashobora kubisanga mugice cyuburyo.
Igicapo 6C cerekana urundi rugero rwurupapuro rudoze rudasanzwe rukozwe muri AMF imwe hamwe nintambara.Urupapuro rushobora kwaguka kuri 45% mukarere (kuri 1,2 MPa) cyangwa gutera uruziga munsi yigitutu.Twashizemo kandi urupapuro rwo gukora amaboko yogusenyera amaboko duhuza imishumi ya magneti kugeza kumpera yurupapuro.Iyindi myenda ya prototype yo kwambura amaboko irerekanwa ku gishushanyo cya 6D, aho impapuro zometseho icyerekezo zakozwe mu bwoko bwa M AMF (reba Methods) hamwe nudodo twa acrylic kugirango tubyare imbaraga zikomeye zo kwikuramo.Twashyizeho impera zimpapuro hamwe na Velcro imishumi kugirango byoroshye kugerekaho no kubunini butandukanye.
Tekinike yo kubuza, ihindura umurongo kwaguka mukigenda cyunamye, iranakoreshwa kumpapuro ziboheye.Turaboha imigozi y'ipamba kuruhande rumwe rw'intambara no kuboha impapuro ziboheye kugirango zitaguka (Ishusho 7A).Rero, iyo AMF ebyiri zabonye umuvuduko wa hydraulic zidashingiye kuri mugenzi we, urupapuro rugenda rwerekanwa rwerekezo rwerekezo rwo gukora imiterere-yuburyo butatu.Mu bundi buryo, dukoresha ubudodo budasubirwaho kugirango tugabanye icyerekezo kimwe cyimpapuro ziboheye (Ishusho 7B).Rero, urupapuro rushobora gukora kwigenga no kurambura ingendo mugihe AMF ijyanye nigitutu.Ku mutini.7B yerekana urugero aho urupapuro rwerekejweho impande zombi rugenzurwa kugirango ruzenguruke hafi bibiri bya gatatu byurutoki rwumuntu rwunamye hanyuma rwongere uburebure bwarwo kugirango rutwikire ibisigaye hamwe.Inzira ebyiri zimpapuro zirashobora kuba ingirakamaro mugushushanya imyambarire cyangwa guteza imbere imyenda yubwenge.
Urupapuro rwerekanwa rwerekezo ebyiri, urupapuro rwububoshyi hamwe nubushobozi bwagutse bwagutse....(D) gutandukanya umurongo wo hagati wuburyo bwagutse bugizwe na hyperbolique parabolike (chipo y'ibirayi).
Twahujije imirongo ibiri yegeranye yumurongo wo hejuru no hepfo yumurongo wububoshyi hamwe nuudodo wo kudoda kugirango idapfundura (Ishusho 7C).Rero, urupapuro rwiboheye rworoshye guhinduka kandi ruhuza neza nu murongo utandukanye wubuso, nkubuso bwuruhu rwamaboko namaboko.Twashizeho kandi uburyo bwa tubular (amaboko) duhuza impera zigice cyerekeranye nicyerekezo cyurugendo.Urutoki ruzengurutse neza urutoki rw'umuntu (Ishusho 7C).Sinuosity yimyenda iboshywe itanga uburyo bwiza kandi buhindagurika, byoroshye gukoresha mumyambarire yubwenge (gants, amaboko yo kwikuramo), itanga ihumure (binyuze muburyo bwiza) hamwe ningaruka zo kuvura (binyuze muri compression).
Usibye kwaguka kwa radiyo 2D mu byerekezo byinshi, impapuro zikozwe mu ruziga zirashobora kandi gutegurwa gukora imiterere ya 3D.Twagabanije umurongo wo hagati wuruziga ruzengurutse hamwe na acrylic yarn kugirango duhungabanye kwaguka kwayo.Kubera iyo mpamvu, imiterere yumwimerere yurupapuro ruzengurutswe yahinduwe muburyo bwa hyperbolique parabolike (cyangwa ibirayi byibirayi) nyuma yigitutu (Ishusho 7D).Ubu bushobozi bwo guhindura imiterere bushobora gushyirwa mubikorwa nkuburyo bwo guterura, lens optique, amaguru ya robot igendanwa, cyangwa birashobora kuba ingirakamaro muburyo bwo kwerekana imideli na robot bionic.
Twateje imbere tekinike yoroshye yo gukora disiki ya flexural dushyira AMF kumurongo wigitambara kitarambuye (Ishusho 3).Twifashishije iki gitekerezo kugirango dushyireho imiterere yinsanganyamatsiko zishobora gukoreshwa aho dushobora gukwirakwiza ingamba nyinshi zikora kandi zidahwitse muri AMF imwe kugirango dukore ishusho yifuza.Twahimbye kandi dushushanya porogaramu enye zikora zishobora guhindura imiterere kuva kumurongo ugana ku nyuguti (UNSW) uko igitutu cyariyongereye (Ishusho yinyongera. S4).Ubu buryo bworoshye butuma ubumuga bwa AMF buhindura imirongo ya 1D muburyo bwa 2D ndetse birashoboka ndetse nuburyo bwa 3D.
Muburyo busa, twakoresheje AMF imwe kugirango dusubiremo igice cyumubiri usanzwe muri tetrapod ikora (Ishusho 8A).Guhuza inzira no gutangiza gahunda bisa nibyerekanwe ku gishushanyo cya 3C.Ariko, aho gukoresha impapuro zurukiramende, batangiye gukoresha imyenda ifite ishusho ya kane (inyenzi, ipamba muslin).Kubwibyo, amaguru ni maremare kandi imiterere irashobora kuzamurwa hejuru.Uburebure bwimiterere bwiyongera buhoro buhoro munsi yigitutu kugeza amaguru yacyo ateganye nubutaka.Niba umuvuduko winjira ukomeje kwiyongera, amaguru azagabanuka imbere, agabanye uburebure bwimiterere.Tetrapods irashobora gukora lokomisiyo niba amaguru yabo afite uburyo buterekanwa cyangwa gukoresha AMF nyinshi hamwe ningamba zo gukoresha inzira.Imashini za robo zoroshye zirakenewe kubikorwa bitandukanye, harimo gutabara inkongi y'umuriro, inyubako zasenyutse cyangwa ibidukikije bishobora guteza akaga, hamwe na robo zitanga imiti.
Umwenda wongeye gushyirwaho kugirango ukore imiterere-ihindura imiterere..(BD) Izindi ngero ebyiri zo guhinduranya ibice, guhindura ikinyugunyugu n'indabyo byoroshye.Umwenda utarambuye: impamba isanzwe.
Twifashishije kandi ubworoherane nuburyo bwinshi bwubu buhanga bwo guhinduranya ibice mugutangiza izindi nyubako ebyiri za bioinspired zo kuvugurura (Ishusho 8B-D).Hamwe na AMF isanzwe, iyi form-deformable structure yongeye guhindurwa kuva kumpapuro za tissue pasive kugeza kubikorwa bikora.Twatewe inkunga n'ikinyugunyugu cya cyami, twakoze imiterere y'ibinyugunyugu ihinduranya dukoresheje igice cy'umwenda umeze nk'ikinyugunyugu (ipamba muslin) n'igice kirekire cya AMF gifashe munsi y'amababa yacyo.Iyo AMF iri mukibazo, amababa arazunguruka.Kimwe n'ikinyugunyugu cya Monarch, amababa y'ibumoso n'iburyo ya robot Ikinyugunyugu kimwe kimwe kuko byombi bigenzurwa na AMF.Ibinyugunyugu bigenewe kwerekana gusa.Ntishobora kuguruka nka Smart Bird (Festo Corp., USA).Twakoze kandi indabyo yigitambara (Igicapo 8D) igizwe nibice bibiri byamababi atanu.Twashyize AMF munsi ya buri cyiciro nyuma yinyuma yinyuma yamababi.Ku ikubitiro, indabyo zirabya, hamwe namababi yose arakinguye.Munsi yigitutu, AMF itera kugendagenda kwamababi, bigatuma ifunga.AMFs ebyiri zigenga zigenga kugendana ibice byombi, mugihe ibibabi bitanu byurwego rumwe flex icyarimwe.
Igihe cyo kohereza: Ukuboza-26-2022