榫欐簮鏈熷垔缃?/p>
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涓�绉嶆皵鍔ㄥ洓瓒崇洿绾胯繍鍔ㄧ殑杞綋鏈哄櫒浜?/p>
浣滆�咃細淇濇枃鐝?/p>
鏉ユ簮锛氥�婄鎶�椋庛�?/p>
2017
骞寸
08
鏈?/p>
鎽?/p>
瑕侊細鏈枃鎻愬嚭浜嗕竴绉嶅洓瓒崇洿绾胯繍鍔ㄧ殑杞綋鏈哄櫒浜恒�傞鍏堬紝缁欏嚭浜嗗熀浜庢皵浣撻┍鍔ㄧ殑杞綋
鏈哄櫒浜虹粨鏋勮璁°�傜劧鍚庯紝鍒╃敤
SolidWorks3D
鎵撳嵃鎶�鏈墦鍗板嚭杞綋鏈哄櫒浜鸿韩浣撶殑鍚勪釜閮ㄤ綅妯?/p>
鍏凤紝閲囩敤鐨勭幆姘ф爲鑴傛鑳舵潗鏂欒繘琛屽～鍏呬粠鑰岃幏寰楄蒋浣撴満鍣ㄤ汉閮ㄤ欢骞跺苟杩涜缁勫悎銆傛渶鍚庯紝浠ラ拡绠?/p>
涓烘皵浣撳姩鍔涙潵婧愶紝閫氳繃瀹為獙瀹炵幇浜嗚杞綋鏈哄櫒浜虹洿绾胯繍鍔ㄣ�?/p>
鍏抽敭璇嶏細鍥涜冻杞綋鏈哄櫒浜猴紱姘斿姩锛?/p>
3D
鎵撳嵃
Abstract
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A type of four-footed soft robot with line motion is presented using pneumatic in this
paper.
锛?/p>
First of all
锛?/p>
the structure of four-footed soft robot has been designed using gas
driving.Secondly
锛?/p>
the soft robot鈥檚 parts moulds are built based on SolidWorks and obtaine
d by 3D
printing technology.Then
锛?/p>
the epoxy resin material is adapt to fill in order to obtain the soft robot
parts and combine them. Finally the experiment result shows the robot can achieve liner motion by
syringe suppling gases.
Key words
锛?/p>
four-footed soft robot
锛?/p>
Pneumatic
锛?/p>
3D print
杞綋鏈哄櫒浜洪【鍚嶆�濅箟灏辨槸涓�绉嶉�氳繃鐮旂┒杞綋鍔ㄧ墿鐨勫璨岋紝浠庤�岃繘琛屼豢鍒剁殑涓�绉嶆柊鍨嬫満鍣?/p>
浜恒�傝繖绉嶆満鍣ㄤ汉涓嶆槸鐢卞垰鎬х殑鏉愭枡鎵�鏋勬垚锛岃�屾槸鐢卞彲浠ユ壙鍙楀ぇ搴斿彉鐨勬煍杞潗鏂欏埗浣滅殑锛屽叾鐩殑
灏辨槸涓轰簡璁╄繖绉嶆満鍣ㄤ汉鍙互鍋氬埌鑷敱鐨勫集鏇诧紝鎷ユ湁鏋侀珮鐨勮嚜鐢卞害浠ヨ嚦浜庡彲浠ヨ交鏉鹃�傚簲浠讳綍鐜?/p>
澧冦�傛鏄洜涓哄姝わ紝杩欎娇寰楄蒋浣撴満鍣ㄤ汉鍦ㄥ啗浜嬶紝鏁戞彺锛屽尰鐤楃瓑鏂归潰閮芥湁鐫�骞挎硾鐨勭敤閫?/p>
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銆?/p>
鐩墠锛岃蒋浣撴満鍣ㄤ汉鐨勭爺绌朵粛澶勪簬璧锋闃舵锛岃繕娌℃湁鎴愮啛鐨勭悊璁鸿璁℃柟娉曪紝澶у閮藉浜庣粨鏋?/p>
璁捐涓庨獙璇侀樁娈点�傛枃
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浠跨収锠曡櫕杩愬姩鏂瑰紡锛岃璁′簡鍚屾椂鍏锋湁鐖銆佹粴鍔ㄣ�佺洿绔嬩笁绉嶇Щ鍔ㄦ柟寮?/p>
鐨勮蒋浣撹爼铏紝骞堕噰鐢ㄥ舰鐘惰蹇嗗悎閲戝脊绨ф潵杩涜椹卞姩銆傛枃
[3]
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鏅紝鎻愬嚭浜嗚兌鍥婄被褰㈢殑杞綋鏈哄櫒浜虹粨鏋勫舰寮忔潵瀹炵幇鑽墿鐨勬姇鏀撅紝骞跺埄鐢ㄨ杽鑶滄潗鏂欙紝鐮斿埗杩涜浜?/p>
鐩稿簲鐨勫師鐞嗘牱鏈猴紝寮�灞曚簡鍒濇鐨勫疄楠屻�傛枃
[4]
璁捐浜嗗鍏宠妭杞綋鏈哄櫒浜猴紝姣忎釜鍏宠妭閲囩敤浠ョ數娴?/p>
鍙樻恫椹卞姩鍏冧欢锛岄�氳繃鐢垫祦鎺у埗鐢垫祦鍙樻恫鏉ュ疄鐜拌爼鍔紝鍏宠妭涔嬮棿閫氳繃寰榾杩炴帴銆?/p>
Obaji[ 5 ]
璁捐浜?/p>
涓�涓叿鏈変簲鎸囨満姊版墜锛岄噰鐢ㄥ舰鐘惰蹇嗗悎閲戜綔涓洪┍鍔ㄥ厓浠讹紝鏉ユ帶鍒舵彙鎵嬬殑澶у皬褰㈢姸瀹炵幇浜嗗姘?/p>
鏉紝鍦嗙悆绛夌墿浣撶殑鎶撳彇銆傛枃
[6]
瀵圭洰鍓嶈蒋浣撴満鍣ㄤ汉鐨勫彂灞曡繘琛屼簡鎬荤粨锛屽苟鎸囧嚭鐩墠杞綋鏈哄櫒浜?/p>
鐨勭爺绌堕噸鐐归泦涓湪缁撴瀯鏋勫瀷鐨勮璁″拰椹卞姩鏂瑰紡涓娿�?/p>
鏈枃鎻愬嚭浜嗕竴绉嶉噰鐢ㄦ皵浣撻┍鍔ㄨ兘澶熷疄鐜板洓瓒宠璧扮殑杞綋鏈哄櫒浜猴紝骞惰缁嗙粰鍑轰簡鍏跺埗澶囪繃
绋嬨�傞�氳繃閽堢杈撻�佹皵浣擄紝瀹為獙琛ㄩ潰缁欏洓瓒充笉鍚屾皵鍘嬮┍鍔ㄥ彲瀹為獙杞綋鏈哄櫒浜哄钩闈㈠唴鐩寸嚎绉诲姩銆?/p>
涓�銆佸洓瓒宠蒋浣撴満鍣ㄤ汉鐨勭粨鏋勮璁?/p>