Bio-inspired design of soft mechanisms using a toroidal hydrostat
Biology is replete with soft mechanisms of potential use for robotics. Here, we report that a soft, toroidal hydrostat can be used to perform three functions found in both living and engineered systems: gripping, catching, and conveying. We demonstrate a gripping mechanism that uses a tubular invers...
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Veröffentlicht in: | Cell reports physical science 2021-09, Vol.2 (9), p.100572, Article 100572 |
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Sprache: | eng |
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Zusammenfassung: | Biology is replete with soft mechanisms of potential use for robotics. Here, we report that a soft, toroidal hydrostat can be used to perform three functions found in both living and engineered systems: gripping, catching, and conveying. We demonstrate a gripping mechanism that uses a tubular inversion to encapsulate objects within a crumpled elastic membrane under hydrostatic pressure. This mechanism produces gripping forces that depend predictably upon the geometric and materials properties of the system. We next demonstrate a catching mechanism akin to that of a chameleon’s tongue: the elasticity of the membrane is used to power a catapulting inversion process (≈400 m/s2) to capture flying objects (e.g., a bouncing ball). Finally, we demonstrate a conveying mechanism that passes objects through the center of the toroidal tube (∼1 cm/s) using a continuous inversion-eversion process. The hybrid hard-soft mechanisms presented here can be applied toward the integration of soft functionality into robotic systems.
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•Bio-inspired mechanisms using the topology of soft structures pressurized with fluid•A gripping mechanism (∼10 mmHg, ∼10 N) based on the inversion of an inflated tube•A catching mechanism (≈400 m/s2) based on a catapulting inversion•A conveying mechanism (∼1 cm/s) based upon a continuous inversion and eversion process
To mimic the biological functions of gripping, catching, and conveying, Root et al. design three soft mechanisms using a toroidal hydrostat. These mechanisms leverage the inversions and eversions of a tubular, toroidal membrane inflated with a fluid. These demonstrations suggest that inflatable, topological structures of polymer films provide a versatile approach for engineering soft robotic devices. |
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ISSN: | 2666-3864 2666-3864 |
DOI: | 10.1016/j.xcrp.2021.100572 |