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Haɗa kayan masarufi da tsokoki na wucin gadi don ƙirƙirar yadudduka masu wayo yana jan hankali sosai daga al'ummomin kimiyya da masana'antu.Yadudduka masu wayo suna ba da fa'idodi da yawa, gami da ta'aziyya mai daidaitawa da babban matakin dacewa da abubuwa yayin samar da aiki mai ƙarfi don motsi da ƙarfi da ake so.Wannan labarin yana gabatar da sabon nau'in yadudduka masu wayo waɗanda za'a iya tsara su ta amfani da hanyoyi daban-daban na saƙa, saƙa da manne zaruruwan tsokar tsokar wucin gadi da ruwa ke motsawa.An ƙirƙiri ƙirar lissafi don kwatanta rabon ƙarfin haɓakar zanen yadi da aka saka da saƙa, sannan aka gwada ingancinsa da gwaji.Sabuwar “smart” yadin da aka saka yana da babban sassauci, daidaituwa, da shirye-shiryen injina, yana ba da damar motsi da yawa da nakasu don aikace-aikace da yawa.An ƙirƙiri nau'ikan samfuran masaku masu wayo ta hanyar tabbatarwa na gwaji, gami da lokuta daban-daban na canjin siffofi kamar elongation (har zuwa 65%), faɗaɗa yanki (108%), faɗaɗa radial (25%), da motsin lankwasa.Ana kuma bincika manufar sake fasalin kyallen jikin kyallen takarda na al'ada zuwa sifofi masu aiki don sigar siffa ta biomimetic.Ana sa ran samfuran wayo da aka tsara za su sauƙaƙa haɓaka kayan sawa masu wayo, tsarin haptic, robots masu laushi na biomimetic, da na'urorin lantarki masu sawa.
Robots masu tsattsauran ra'ayi suna da tasiri yayin aiki a cikin ƙayyadaddun mahalli, amma suna da matsala tare da yanayin da ba a sani ba na canza yanayin, wanda ke iyakance amfani da su wajen bincike ko bincike.Yanayin yana ci gaba da ba mu mamaki da dabaru da yawa na ƙirƙira don magance abubuwan waje da bambance-bambance.Misali, ginshiƙan tsire-tsire masu tsayi suna yin motsi iri-iri, kamar lanƙwasa da karkace, don bincika yanayin da ba a sani ba don neman tallafi mai dacewa1.Venus flytrap ( Dionaea muscipula) yana da gashin gashi a jikin ganyen sa wanda idan ya taso sai ya kama ganima2.A cikin 'yan shekarun nan, nakasawa ko nakasar jiki daga sama mai girma biyu (2D) zuwa siffofi masu girma uku (3D) waɗanda ke kwaikwayon tsarin ilimin halitta ya zama batun bincike mai ban sha'awa3,4.Waɗannan gyare-gyare na robotic masu laushi suna canza siffa don dacewa da yanayin canzawa, ba da damar motsi na multimodal, da amfani da ƙarfi don yin aikin injiniya.Isar su ya kai ga aikace-aikacen mutum-mutumi iri-iri, gami da deployables5, masu sake daidaitawa da kuma nada kai mutum-mutumi6,7, na'urorin biomedical8, motocin9,10 da na'urorin lantarki masu faɗaɗa11.
An yi bincike da yawa don samar da faranti masu ɗorewa waɗanda, idan aka kunna su, su canza zuwa rikitattun sifofi masu girma uku3.Hanya mai sauƙi don ƙirƙirar sifofi masu lalacewa shine haɗuwa da yadudduka na kayan daban-daban waɗanda ke jujjuyawa da murƙushewa lokacin da aka fallasa su zuwa stimuli12,13.Janbaz et al.14 da Li et al.15 sun aiwatar da wannan ra'ayi don ƙirƙirar mutum-mutumi masu lahani na yanayin zafi.An yi amfani da sifofin tushen Origami waɗanda ke haɗa abubuwa masu ɗaukar kuzari don ƙirƙirar hadaddun sifofi masu girma uku16,17,18.An yi wahayi zuwa ga morphogenesis na tsarin halitta, Emmanuel et al.Ana ƙirƙira elastomers masu nakasassu ta hanyar tsara tashoshi na iska a cikin saman roba wanda, ƙarƙashin matsin lamba, ya canza zuwa hadaddun, sifofi masu girma uku na sabani.
Haɗin yadudduka ko yadudduka cikin naƙasassun mutum-mutumi masu laushi wani sabon shiri ne wanda ya haifar da sha'awa.Yadi abubuwa ne masu laushi da na roba waɗanda aka yi su daga zaren ta hanyar dabarun saƙa kamar saƙa, saƙa, sutura, ko saƙar kulli.Abubuwan ban mamaki na yadudduka, ciki har da sassauci, dacewa, elasticity da numfashi, suna sa su shahara sosai a cikin komai daga tufafi zuwa aikace-aikacen likita20.Akwai manyan hanyoyi guda uku don haɗa yadudduka a cikin injiniyoyi21.Hanya ta farko ita ce a yi amfani da yadin a matsayin madaidaicin tallafi ko tushe don wasu abubuwan haɗin gwiwa.A wannan yanayin, yadudduka masu wucewa suna ba da dacewa mai dacewa ga mai amfani yayin ɗaukar ingantattun abubuwa (motoci, firikwensin, wutar lantarki).Yawancin robobi masu laushi masu laushi ko exoskeletons masu laushi sun faɗi ƙarƙashin wannan tsarin.Misali, exoskeletons masu laushi masu laushi don taimakon tafiya 22 da taimakon gwiwar gwiwar hannu 23, 24, 25, safofin hannu masu laushi masu laushi 26 don taimakon hannu da yatsa, da kuma robobi masu taushi na bionic 27.
Hanya ta biyu ita ce a yi amfani da yadudduka a matsayin m da iyakanceccen sassa na na'urorin mutum-mutumi masu taushi.Masu aiki da kayan aiki suna faɗuwa cikin wannan rukunin, inda galibi ana gina masana'anta azaman akwati na waje don ƙunshe da bututun ciki ko ɗaki, suna samar da kayan aikin fiber mai laushi.Lokacin da aka shigar da tushen pneumatic na waje ko na'ura mai aiki da karfin ruwa, waɗannan masu kunnawa masu laushi suna fuskantar canje-canje a cikin sifa, gami da elongation, lanƙwasa ko karkatarwa, dangane da ainihin abun da ke ciki da tsarin su.Alal misali, Talman et al.Tufafin idon kafa na Orthopedic, wanda ya ƙunshi jerin aljihunan masana'anta, an gabatar da su don sauƙaƙe juzu'in shuka don dawo da gait28.Yadudduka yadudduka tare da extensibility daban-daban za a iya haɗuwa don ƙirƙirar motsi na anisotropic 29 .OmniSkins – Fatukan robobi masu laushi waɗanda aka yi daga nau'ikan masu motsa jiki masu laushi da kayan maye na iya canza abubuwa marasa amfani zuwa mutum-mutumi masu aiki da yawa waɗanda za su iya aiwatar da motsin tsari da nakasu don aikace-aikace daban-daban.Zhu et al.sun ɓullo da wani ruwa nama na tsoka sheet31 wanda zai iya haifar da elongation, lankwasawa, da daban-daban nakasawa motsi.Buckner et al.Haɗa filaye masu aiki cikin kyallen takarda na al'ada don ƙirƙirar kyallen jikin mutum-mutumi tare da ayyuka da yawa kamar kunnawa, ji, da taurin kai32.Ana iya samun wasu hanyoyin a cikin wannan rukunin a cikin waɗannan takardu 21, 33, 34, 35.
Hanyar kwanan nan don yin amfani da ingantattun kaddarorin kayan masarufi a fagen sarrafa mutum-mutumi masu laushi shine yin amfani da filament masu amsawa ko ƙara kuzari don ƙirƙirar yadudduka masu wayo ta amfani da hanyoyin masana'anta na gargajiya kamar saƙa, saƙa da hanyoyin saƙa21,36,37.Dangane da abun da ke cikin kayan, yarn mai amsawa yana haifar da canji a cikin siffar lokacin da aka yi amfani da wutar lantarki, zafi ko matsa lamba, wanda ke haifar da lalacewa na masana'anta.A cikin wannan hanya, inda aka haɗa kayan kayan gargajiya a cikin tsarin na'ura mai laushi mai laushi, sake fasalin kayan yadin yana faruwa a kan Layer na ciki (yarn) maimakon Layer na waje.Don haka, yadudduka masu wayo suna ba da kyakkyawar kulawa dangane da motsi na multimodal, nakasar shirye-shirye, haɓakawa, da ikon daidaita taurin kai.Misali, Siffar ƙwaƙwalwar ajiya alloys (SMAs) da sifa memori polymers (SMPs) za a iya shigar a cikin yadudduka don rayayye sarrafa su siffar ta thermal kuzari, kamar hemming38, wrinkle removal36,39, tactile da tactile feedback40,41, kazalika da daidaitacce. tufafin sawa.na'urori 42 .Koyaya, amfani da makamashin zafi don dumama da sanyaya yana haifar da jinkirin amsawa da wahalan sanyaya da sarrafawa.Kwanan nan, Hiramitsu et al.Ana amfani da kyawawan tsokoki na McKibben43,44, tsokoki na wucin gadi na pneumatic, azaman yadudduka don ƙirƙirar nau'ikan yadudduka masu aiki ta hanyar canza tsarin saƙa45.Ko da yake wannan tsarin yana ba da karfi da karfi, saboda yanayin ƙwayar tsoka na McKibben, girman girman girmansa yana iyakance (< 50%) kuma ƙananan girman ba za a iya cimma ba (diamita <0.9 mm).Bugu da kari, yana da wahala a samar da samfuran masaku masu kaifin basira daga hanyoyin saƙa waɗanda ke buƙatar sasanninta masu kaifi.Don samar da mafi girman kewayon yadi mai wayo, Maziz et al.An haɓaka kayan sawa masu amfani da wutar lantarki ta hanyar saƙa da saƙa da zaren polymer na lantarki46.
A cikin 'yan shekarun nan, wani sabon nau'in tsokar wucin gadi na thermosensitive ya fito, an gina shi daga murɗaɗɗen ƙira, filayen polymer marasa tsada47,48.Ana samun waɗannan filaye na kasuwanci kuma ana iya haɗa su cikin sauƙi a cikin saƙa ko saƙa don samar da tufafi masu araha masu araha.Duk da ci gaban da aka samu, waɗannan sabbin masakun masu zafin zafi suna da iyakance lokacin amsawa saboda buƙatar dumama da sanyaya (misali yadudduka masu sarrafa zafin jiki) ko wahalar yin hadaddun saƙa da saƙa waɗanda za a iya tsara su don haifar da nakasu da motsin da ake so. .Misalai sun haɗa da fadada radial, 2D zuwa 3D canji, ko faɗaɗa shugabanci biyu, wanda muke bayarwa anan.
Don shawo kan waɗannan matsalolin da aka ambata a baya, wannan labarin yana gabatar da sabon yadin da aka yi da ruwa mai wayo wanda aka yi daga filayen tsokar tsoka mai laushi da aka gabatar kwanan nan (AMF)49,50,51.AMFs suna da sassauci sosai, masu ƙima kuma ana iya rage su zuwa diamita na 0.8 mm da manyan tsayi (aƙalla 5000 mm), suna ba da ma'auni mai girma (tsawon tsayi zuwa diamita) da kuma tsayin daka (akalla 245%), babban makamashi. inganci, ƙasa da amsawar sauri na 20Hz).Don ƙirƙirar yadudduka masu wayo, muna amfani da AMF azaman yarn mai aiki don samar da yadudduka na tsoka na 2D ta hanyar sakawa da dabarun saƙa.Mun yi nazarin ƙididdige adadin faɗaɗawa da ƙarfi na waɗannan kyallen “masu hankali” dangane da ƙarar ruwa da matsin lamba da aka kawo.An ƙirƙira ƙirar ƙididdiga don kafa alaƙar ƙarfi na elongation don saƙa da zanen gado.Mun kuma bayyana dabarun shirye-shirye na inji da yawa don yadudduka masu wayo don motsi multimodal, gami da tsawo na shugabanci biyu, lankwasawa, faɗaɗa radial, da ikon canzawa daga 2D zuwa 3D.Don nuna ƙarfin tsarin mu, za mu kuma haɗa AMF cikin yadudduka na kasuwanci ko yadudduka don canza tsarin su daga m zuwa tsarin aiki waɗanda ke haifar da nakasu iri-iri.Mun kuma nuna wannan ra'ayi akan benci na gwaji da yawa, gami da lanƙwasa zaren da za'a iya tsarawa don samar da haruffan da ake so da tsarin halitta mai canza siffa zuwa sifar abubuwa kamar malam buɗe ido, tsarin quadrupedal da furanni.
Yadudduka sassa biyu ne masu sassauƙa da sassauƙa da aka ƙera daga zaren da aka haɗa guda ɗaya kamar yadudduka, zaren da zaruruwa.Yakuwa ɗaya ce daga cikin tsoffin fasahar ɗan adam kuma ana amfani da ita sosai a kowane fanni na rayuwa saboda jin daɗi, daidaitawa, ƙarfin numfashi, ƙayatarwa da kariya.Ana ƙara yin amfani da yadudduka masu wayo (kuma aka sani da tufafi masu wayo ko yadudduka na mutum-mutumi) a cikin bincike saboda babban ƙarfinsu a aikace-aikacen mutum-mutumi20,52.Watsa shirye-shirye masu kyau sun yi alƙawarin inganta ƙwarewar ɗan adam na hulɗa tare da abubuwa masu laushi, suna haifar da canji a cikin filin inda za a iya sarrafa motsi da karfi na bakin ciki, masana'anta masu sassauƙa don yin takamaiman ayyuka.A cikin wannan takarda, mun bincika hanyoyi guda biyu don samar da yadudduka masu wayo bisa ga AMF49 ɗinmu na baya-bayan nan: (1) yi amfani da AMF a matsayin yarn mai aiki don ƙirƙirar yadi mai wayo ta amfani da fasahar masana'anta na gargajiya;(2) saka AMF kai tsaye cikin yadudduka na gargajiya don tada motsin da ake so da lalacewa.
AMF ta ƙunshi bututun silicone na ciki don samar da wutar lantarki da kuma na'urar helical na waje don iyakance fadada radial.Don haka, AMFs suna tsawaita tsayin daka lokacin da ake matsa lamba kuma daga baya suna nuna ƙarfin kwangila don komawa zuwa tsayinsu na asali lokacin da aka saki matsin lamba.Suna da kaddarorin kama da filaye na gargajiya, gami da sassauci, ƙaramin diamita da tsayi mai tsayi.Koyaya, AMF ya fi aiki da sarrafawa dangane da motsi da ƙarfi fiye da takwarorinsa na al'ada.An yi wahayi zuwa ga ci gaba cikin sauri na kwanan nan a cikin masana'anta masu wayo, a nan mun gabatar da manyan hanyoyi guda huɗu don samar da yadudduka masu wayo ta amfani da AMF zuwa fasahar masana'anta da aka daɗe (Hoto 1).
Hanya ta farko ita ce saƙa.Muna amfani da fasahar saƙa don samar da masana'anta da aka saƙa mai aiki wanda ke buɗewa ta hanya ɗaya lokacin da aka kunna ruwa.Saƙa da zanen gado suna da tsayi sosai kuma suna iya buɗewa amma suna da sauƙin warwarewa fiye da zanen gadon saƙa.Dangane da hanyar sarrafawa, AMF na iya samar da layuka ɗaya ko cikakkun samfuran.Baya ga zanen gadon lebur, tsarin saƙa tubular suma sun dace da kera na AMF.Hanya ta biyu ita ce saƙa, inda muke amfani da AMF guda biyu a matsayin warp da saƙa don samar da zanen saƙa mai siffar rectangular wanda zai iya fadada kansa ta hanyoyi biyu.Saƙan zanen gado yana ba da ƙarin iko (a cikin duka kwatance) fiye da saƙan zanen gado.Mun kuma saƙa AMF daga zaren gargajiya don yin saƙa mai sauƙi wanda ba za a iya samun rauni ta hanya ɗaya kawai ba.Hanya na uku - fadada radial - shine bambance-bambancen fasahar saƙa, wanda AMPs ba su kasance a cikin rectangle ba, amma a cikin karkace, kuma zaren suna samar da ƙuntataccen radial.A wannan yanayin, ƙirƙira yana faɗaɗa radially a ƙarƙashin matsi na shigarwa.Hanya ta huɗu ita ce a liƙa AMF a kan takardan masana'anta don ƙirƙirar motsin lanƙwasa a inda ake so.Mun sake tsara allon ɓacin rai a cikin allon fashewa mai aiki ta hanyar gudanar da AMF a kusa da gefensa.Wannan yanayin shirin AMF yana buɗe damar da ba za a iya ƙididdigewa ba don canza siffa mai ɗorewa mai canza yanayin halitta inda za mu iya juyar da abubuwa marasa ƙarfi zuwa masu aiki.Wannan hanya ce mai sauƙi, mai sauƙi, kuma mai sauri, amma tana iya yin sulhu da tsawon lokacin samfurin.Ana magana da mai karatu zuwa wasu hanyoyi a cikin wallafe-wallafen da ke dalla-dalla dalla-dalla da ƙarfi da raunin kowane kayan nama21,33,34,35.
Yawancin zaren ko yadudduka da ake amfani da su don yin yadudduka na gargajiya sun ƙunshi sifofi masu ɗorewa.A cikin wannan aikin, muna amfani da AMF ɗinmu da aka haɓaka a baya, wanda zai iya kaiwa tsayin mita da diamita na submillimeter, don maye gurbin yadudduka na yadudduka na gargajiya tare da AFM don ƙirƙirar yadudduka masu hankali da aiki don aikace-aikace masu yawa.Sassan da ke gaba sun bayyana cikakkun hanyoyin yin samfuran masaku masu wayo da gabatar da manyan ayyuka da halayensu.
Mun ƙera rigunan AMF guda uku da hannu ta amfani da dabarar saƙa (Fig. 2A).Zaɓin kayan aiki da cikakkun bayanai na AMFs da samfura ana iya samun su a cikin sashin Hanyoyi.Kowane AMF yana bin hanya mai jujjuyawa (wanda kuma ake kira hanya) wanda ke samar da madauki mai ma'ana.Ana gyara madaukai na kowane jere tare da madaukai na layuka a sama da ƙasa.Ana haɗe zoben ginshiƙi ɗaya daidai gwargwado zuwa hanya.Samfurin mu na saƙa ya ƙunshi layuka uku na ɗinki bakwai (ko ɗinki bakwai) a kowane jere.Ƙananan zobe na sama da ƙasa ba a gyara su ba, don haka za mu iya haɗa su zuwa sandunan ƙarfe masu dacewa.Samfuran saƙa sun buɗe cikin sauƙi fiye da yadudduka na yau da kullun saboda tsananin taurin AMF idan aka kwatanta da yadudduka na al'ada.Sabili da haka, mun ɗaure madaukai na layuka masu kusa tare da igiyoyin roba na bakin ciki.
Ana aiwatar da samfura iri-iri masu wayo tare da saitin AMF daban-daban.(A) Tabbataccen saƙa da aka yi daga AMF guda uku.(B) Takardun saƙa na Bidirectional na AMF guda biyu.(C) Takardun saƙa na unidirectional da aka yi daga AMF da yarn acrylic na iya ɗaukar nauyin 500g, wanda shine sau 192 nauyinsa (2.6g).(D) Tsarin faɗaɗa radiyo tare da AMF ɗaya da yarn auduga azaman ƙuntatawa na radial.Ana iya samun cikakkun bayanai a cikin sashin Hanyoyi.
Kodayake madaukai na zigzag na saƙa na iya shimfiɗa ta hanyoyi daban-daban, saƙa samfurin mu yana faɗaɗa da farko a cikin madaidaicin matsi a ƙarƙashin matsin lamba saboda iyakancewar hanyar tafiya.Tsawaita kowane AMF yana ba da gudummawa ga haɓaka jimillar yanki na takardar saƙa.Dangane da takamaiman buƙatu, zamu iya sarrafa AMF guda uku daban-daban daga tushen ruwa daban-daban (Hoto 2A) ko a lokaci guda daga tushen ruwa ɗaya ta hanyar mai rarraba ruwa 1-zuwa-3.A kan fig.2A yana nuna misali na samfurin saƙa, farkon yankin wanda ya karu da 35% yayin da ake amfani da matsa lamba zuwa AMPs uku (1.2 MPa).Musamman, AMF ya sami babban haɓaka na aƙalla 250% na tsawonsa na asali49 don haka zanen gadon saƙa na iya shimfiɗa har ma fiye da nau'ikan yanzu.
Mun kuma ƙirƙiri zanen gadon saƙa biyu da aka samu daga AMF guda biyu ta amfani da dabarar saƙa ta bayyana (Hoto 2B).AMF warp da weft suna haɗe-haɗe a kusurwoyi madaidaici, suna yin tsari mai sauƙi-cross-cross.An rarraba saƙar samfurin mu a matsayin daidaitaccen saƙa na fili domin duka yadudduka da yadudduka an yi su daga girman zaren iri ɗaya (duba sashin hanyoyin don cikakkun bayanai).Ba kamar zaren yau da kullun waɗanda za su iya samar da ninki mai kaifi ba, AMF da aka yi amfani da ita tana buƙatar takamaiman radius na lanƙwasa lokacin komawa zuwa wani zaren ƙirar saƙa.Saboda haka, zanen gadon da aka yi daga AMP suna da ƙarancin ƙarancin yawa idan aka kwatanta da kayan saƙa na al'ada.Nau'in AMF S (diamita na waje 1.49 mm) yana da ƙaramin lanƙwasa radius na 1.5 mm.Misali, samfurin saƙa da muke gabatarwa a cikin wannan labarin yana da ƙirar zaren 7 × 7 inda kowane tsaka-tsaki yana daidaitawa tare da kullin igiya na bakin ciki.Yin amfani da fasahar saƙa iri ɗaya, zaku iya samun ƙarin madauri.
Lokacin da madaidaicin AMF ya sami matsa lamba na ruwa, zanen da aka saƙa yana faɗaɗa yankinsa a cikin hanyar warp ko saƙa.Sabili da haka, mun sarrafa ma'auni na takarda mai laushi (tsawo da faɗi) ta hanyar canza adadin matsa lamba da aka yi amfani da su a kan AMPs guda biyu.A kan fig.2B yana nuna samfurin saƙa wanda ya faɗaɗa zuwa 44% na ainihin wurin sa yayin da ake matsa lamba zuwa AMP ɗaya (1.3 MPa).Tare da aikin matsa lamba na lokaci guda akan AMF guda biyu, yankin ya karu da 108%.
Mun kuma yi takardar saƙa na unidirectional daga AMF guda ɗaya tare da warp da acrylic yarn a matsayin saƙa (Hoto 2C).An tsara AMFs a cikin layuka bakwai zigzag kuma zaren suna saƙa waɗannan layuka na AMF tare don samar da zanen masana'anta na rectangular.Wannan nau'in saƙa ya fi girma fiye da na siffa 2B, godiya ga zaren acrylic masu laushi waɗanda ke cike da sauƙi.Saboda AMF ɗaya kawai muke amfani da shi azaman warp, saƙan takardar zai iya faɗaɗa kawai zuwa warp a ƙarƙashin matsin lamba.Hoto 2C yana nuna misalin samfurin saƙa wanda yanki na farko ya ƙaru da 65% tare da ƙara matsa lamba (1.3 MPa).Bugu da kari, wannan guntuwar (mai nauyin gram 2.6) na iya daukar nauyin gram 500, wanda ya ninka nauyinsa sau 192.
Maimakon shirya AMF a cikin ƙirar zigzag don ƙirƙirar takardar saƙa ta rectangular, mun ƙirƙira siffa mai laushi na AMF, wanda daga nan aka takura shi da zaren auduga don ƙirƙirar zanen sakan zagaye (Hoto 2D).Babban tsauri na AMF yana iyakance cikar yankin tsakiyar farantin.Duk da haka, ana iya yin wannan padding daga yarn na roba ko yadudduka na roba.Bayan karɓar matsin lamba na hydraulic, AMP yana jujjuya tsayin tsayinsa zuwa faɗaɗa radial na takardar.Har ila yau, ya kamata a lura cewa duka diamita na waje da na ciki na siffar karkace suna karuwa saboda iyakancewar radial na filaments.Hoto na 2D ya nuna cewa tare da matsa lamba na hydraulic na 1 MPa, siffar zagaye na takarda yana faɗaɗa zuwa 25% na ainihin yankinsa.
Mun gabatar a nan hanya ta biyu don kera yadudduka masu wayo inda muke manna AMF zuwa wani lebur ɗin masana'anta kuma mu sake tsara shi daga madaidaicin tsari zuwa tsarin sarrafawa mai ƙarfi.An nuna zanen zane na tuƙi mai lanƙwasawa a cikin fig.3A, inda AMP ke naɗewa ƙasa a tsakiya kuma a manna shi zuwa ɗigon masana'anta da ba za a iya yankewa ba ( masana'anta muslin auduga) ta amfani da tef mai gefe biyu azaman mannewa.Da zarar an rufe shi, saman AMF yana da 'yanci don tsawaita, yayin da ƙasa ke iyakance ta tef da masana'anta, yana haifar da tsiri don tanƙwara zuwa masana'anta.Za mu iya kashe kowane ɓangare na mai kunnawa lanƙwasa a ko'ina ta hanyar manna tsiri a kai kawai.Yanki da aka kashe ba zai iya motsawa kuma ya zama yanki mara aiki.
Ana sake saita masana'anta ta hanyar manne AMF akan yadudduka na gargajiya.(A) Tunanin ƙira don tuƙi mai lanƙwasawa da aka yi ta hanyar liƙa AMF mai naɗewa a kan masana'anta mara nauyi.(B) Lankwasawa na samfurin actuator.(C) Sake fasalin zane mai murabba'i a cikin wani mutum-mutumi mai ƙafafu huɗu mai aiki.Inelastic masana'anta: rigar auduga.Yadin da aka saka: polyester.Ana iya samun cikakkun bayanai a cikin sashin Hanyoyi.
Mun yi samfura da yawa na lanƙwasawa masu tsayi daban-daban kuma mun matsa su da na'urorin lantarki don ƙirƙirar motsin lanƙwasa (Hoto 3B).Mahimmanci, ana iya shimfida AMF a madaidaiciyar layi ko ninke don samar da zaren da yawa sannan kuma a liƙa a masana'anta don ƙirƙirar tuƙi mai lanƙwasa tare da adadin zaren da ya dace.Mun kuma canza takardar nama mai wucewa zuwa tsarin tetrapod mai aiki (Hoto na 3C), inda muka yi amfani da AMF don daidaita iyakokin nama mai rectangular da ba za a iya cirewa ba ( masana'anta muslin auduga).An haɗa AMP zuwa masana'anta tare da wani tef mai gefe biyu.Ana buga tsakiyar kowane gefen don zama m, yayin da kusurwoyi huɗu suna aiki.Rufin saman shimfiɗar masana'anta (polyester) zaɓi ne.Kusurwoyi huɗu na masana'anta sun lanƙwasa (kamar ƙafafu) lokacin da aka danna.
Mun gina benci na gwaji don nazarin kaddarorin ƙwararrun masaku masu wayo (duba sashin Hanyoyi da Ƙarin Hoto S1).Tun da duk samfurori an yi su ne daga AMF, yanayin gaba ɗaya na sakamakon gwaji (Fig. 4) ya dace da manyan halaye na AMF, wato, matsa lamba mai shiga yana daidai da ƙaddamarwar fitarwa kuma ya bambanta da ƙarfin matsawa.Koyaya, waɗannan yadudduka masu wayo suna da halaye na musamman waɗanda ke nuna ƙayyadaddun tsarin su.
Yana da fasalin daidaitawar yadi mai wayo.(A, B) Hannun hanji don matsa lamba mai shiga da fitar da fitarwa da karfi don zanen gadon saka.(C) Fadada yankin takardar saƙa.(D, E) Dangantaka tsakanin matsa lamba na shigarwa da haɓaka fitarwa da ƙarfi don saƙa.(F) Fadada yanki na sifofi masu faɗaɗa radiyo.(G) Lankwasawa kusurwoyi masu tsayi daban-daban guda uku na tuƙi.
Kowane AMF na takardar da aka saka an yi shi da matsa lamba na 1 MPa don samar da kusan 30% elongation (Fig. 4A).Mun zaɓi wannan ƙofa don ɗaukacin gwaji don dalilai da yawa: (1) don ƙirƙirar haɓaka mai mahimmanci (kimanin 30%) don jaddada maƙallan su na hysteresis, (2) don hana hawan keke daga gwaje-gwaje daban-daban da samfuran sake amfani da su waɗanda ke haifar da lalacewa ko gazawa..karkashin matsanancin ruwa.Yankin da ya mutu yana bayyane a fili, kuma suturar ta kasance mara motsi har sai matsatsin shigarwar ya kai 0.3 MPa.Matsakaicin matsi na elongation hysteresis mãkirci yana nuna babban tazara tsakanin juzu'i na yin famfo da sakewa, yana nuna cewa akwai gagarumin asarar kuzari lokacin da saƙan takardar ta canza motsi daga faɗaɗawa zuwa ƙanƙancewa.(Hoto na 4A).Bayan samun matsi na mashigai na 1 MPa, takardar da aka saƙa na iya yin amfani da ƙarfin ƙugiya na 5.6 N (Fig. 4B).Makircin matsi-ƙarfin hysteresis kuma yana nuna cewa madaidaicin sake saiti ya kusan mamaye tare da lanƙwan ginin matsa lamba.Fadada yanki na takardar da aka saka ya dogara da adadin matsi da aka yi amfani da su ga kowane AMF guda biyu, kamar yadda aka nuna a cikin filin 3D (Hoto 4C).Gwaje-gwajen kuma sun nuna cewa zanen saƙa na iya samar da faɗaɗa yanki na 66% lokacin da warp ɗin sa da saƙar AMFs ke fuskantar matsin lamba na 1 MPa lokaci guda.
Sakamakon gwaji na takardar da aka saƙa ya nuna irin wannan tsari ga takardar saƙa, gami da faffadan gibi mai faɗi a cikin zane-zane-matsi da maɗaurin ƙarfi-matsi.Takardar da aka saƙa ta nuna elongation na 30%, bayan haka ƙarfin matsawa shine 9 N a matsa lamba na 1 MPa (Fig. 4D, E).
A cikin yanayin zanen da aka saka zagaye, wurin farko ya karu da kashi 25% idan aka kwatanta da na farkon yankin bayan fallasa zuwa matsa lamba na ruwa na 1 MPa (Fig. 4F).Kafin samfurin ya fara faɗaɗa, akwai babban yanki mai mutuƙar matsa lamba har zuwa 0.7 MPa.An yi tsammanin wannan babban yanki mai mutuwa kamar yadda aka yi samfurori daga AMFs mafi girma wanda ke buƙatar matsananciyar matsin lamba don shawo kan matsalolin farko.A kan fig.4F kuma yana nuna cewa madaidaicin sakin kusan yayi daidai da lanƙwan ƙara matsa lamba, yana nuna ƙarancin ƙarancin kuzari lokacin da aka kunna motsi diski.
Sakamakon gwaji na masu kunnawa uku na lanƙwasawa (sake fasalin nama) ya nuna cewa masu lanƙwasa hysteresis suna da irin wannan tsari (Hoto 4G), inda suke fuskantar mataccen yankin matsewar matsa lamba har zuwa 0.2 MPa kafin dagawa.Mun yi amfani da ƙarar ruwa iri ɗaya (0.035 ml) zuwa faifan lanƙwasa guda uku (L20, L30 da L50 mm).Koyaya, kowane mai kunnawa ya sami kololuwar matsin lamba kuma ya haɓaka kusurwoyi daban-daban.Masu kunnawa L20 da L30 mm sun sami matsin lamba na 0.72 da 0.67 MPa, suna kaiwa kusurwoyi na 167° da 194° bi da bi.Mafi tsayin lankwasawa (tsawon 50 mm) ya tsayayya da matsa lamba na 0.61 MPa kuma ya kai matsakaicin kusurwar lanƙwasa 236 °.Matsakaicin matsi na kusurwar matsi ya kuma bayyana babban gibi tsakanin matsi da sakin lankwasa don duk tuƙi guda uku masu lanƙwasawa.
Dangantakar da ke tsakanin ƙarar shigarwa da kaddarorin fitarwa (tsawaitawa, ƙarfi, faɗaɗa yanki, kusurwar lanƙwasa) na sama mai wayo mai wayo ana iya samun shi a Ƙarin Hoto S2.
Sakamakon gwaji a cikin sashin da ya gabata ya nuna a sarari alaƙar daidaitawa tsakanin matsa lamba mai shiga da fitarwa na samfuran AMF.Ƙarfin AMB yana da ƙarfi, mafi girma da tsawo yana haɓakawa da kuma yawan ƙarfin da yake tarawa.Don haka, mafi girman ƙarfin da yake yi.Sakamakon ya kuma nuna cewa samfuran sun kai iyakar matsawa lokacin da aka cire matsa lamba na shigarwa gaba daya.Wannan sashe yana nufin kafa alaƙa kai tsaye tsakanin haɓakawa da matsakaicin ƙarfin raguwar zanen gadon saƙa da saƙa ta hanyar ƙirar ƙira da tabbatarwa na gwaji.
Matsakaicin ƙarfin kwangilar Fout (a matsa lamba P = 0) na AMF guda ɗaya an ba da shi a cikin ref 49 kuma an sake dawo da shi kamar haka:
Daga cikin su, α, E, da A0 sune abubuwan shimfidawa, Matsalolin Matasa, da yanki na yanki na bututun silicone, bi da bi;k shine ƙayyadaddun ƙayyadaddun ƙayyadaddun ƙima;x da li an biya su da tsayin farko.AMP, bi da bi.
daidaitattun daidaito.(1) Ɗauki zanen saƙa da saƙa a matsayin misali (Fig. 5A, B).Ƙarfin raguwa na samfurin Fkv da saƙa na Fwh ana bayyana su ta hanyar lissafi (2) da (3), bi da bi.
inda mk shine adadin madaukai, φp shine madauki na madauki na masana'anta a lokacin allura (Fig. 5A), mh shine adadin zaren, θhp shine kusurwar haɗin gwiwa na masana'anta a lokacin allura (Fig. 5B), εkv. εwh shine takardar saƙa da nakasar takardar saƙa, F0 shine tashin hankali na farko na murɗa mai karkace.Cikakkun ma'auni.(2) da (3) za a iya samu a cikin bayanan tallafi.
Ƙirƙiri samfurin nazari don dangantakar elongation-force.(A,B) Misalai na ƙididdiga don saƙa da saƙa, bi da bi.(C,D) Kwatanta ƙirar ƙididdiga da bayanan gwaji don saƙa da zanen saƙa.Tushen RMSE yana nufin kuskure murabba'i.
Don gwada samfurin da aka haɓaka, mun yi gwaje-gwaje na elongation ta amfani da ƙirar da aka saƙa a cikin siffa 2A da samfurori masu sutura a cikin siffa 2B.An auna ƙarfin haɗin gwiwa a cikin ƙarin 5% na kowane tsawaita kulle daga 0% zuwa 50%.An gabatar da ma'anar ma'ana da daidaitattun gwaje-gwajen guda biyar a cikin Hoto 5C (saƙa) da Hoto 5D (saƙa).An siffanta masu lanƙwasa ƙirar ƙirƙira ta hanyar daidaitawa.Ana ba da ma'auni (2) da (3) a cikin Tebur.1. Sakamakon ya nuna cewa ƙirar ƙididdiga tana cikin kyakkyawar yarjejeniya tare da bayanan gwaji a kan dukkanin kewayon elongation tare da tushen kuskuren murabba'in murabba'i (RMSE) na 0.34 N don saƙa, 0.21 N don AMF H (a kwance shugabanci) da 0.17 N don AMF saƙa.V (yanayin tsaye).
Baya ga ƙaƙƙarfan motsi, za a iya tsara kayan masarufi masu wayo da injina don samar da ƙarin hadaddun motsi kamar S-bend, radial contraction, da nakasar 2D zuwa 3D.Mun gabatar a nan hanyoyi da yawa don tsara lebur mai wayo yadi cikin da ake so Tsarin.
Baya ga faɗaɗa yankin a kan madaidaiciyar hanya, ana iya tsara zanen gadon saƙa na unidirectional da injina don ƙirƙirar motsi na multimodal (Fig. 6A).Muna sake saita tsawo na takarda mai lanƙwasa azaman motsi mai lanƙwasa, muna ƙuntata ɗayan fuskokinsa (sama ko ƙasa) tare da zaren ɗinki.Zane-zanen suna yin lanƙwasa zuwa saman da aka ɗaure ƙarƙashin matsi.A kan fig.6A yana nuna misalan nau'ikan saƙa guda biyu waɗanda suka zama S-dimbin yawa lokacin da rabi ya matse a saman gefe kuma ɗayan ya matse a gefen ƙasa.A madadin, zaku iya ƙirƙirar motsin lanƙwasa madauwari inda gabaɗayan fuska kawai ke takura.Hakanan za'a iya sanya takarda mai kaɗe-kaɗe na unidirectional ta zama hannun rigar matsawa ta haɗa iyakarsa biyu zuwa tsarin tubular (Fig. 6B).Ana sawa hannun riga a kan yatsan hannun mutum don samar da matsawa, wani nau'i na maganin tausa don rage zafi ko inganta wurare dabam dabam.Ana iya daidaita shi don dacewa da sauran sassan jiki kamar hannuwa, hips, da ƙafafu.
Ability don saƙa zanen gado a daya hanya.(A) Ƙirƙirar sifofi masu lalacewa saboda tsarin shirye-shirye na siffar zaren ɗinki.(B) Hannun matsawa yatsa.(C) Wani siga na takardar da aka yi masa waƙa da aiwatar da shi a matsayin rigar matsi na gaba.(D) Wani samfurin matsi da aka yi daga nau'in AMF M, yarn acrylic da madaurin Velcro.Ana iya samun cikakkun bayanai a cikin sashin Hanyoyi.
Hoto na 6C yana nuna wani misali na takardar saƙar da aka yi daga AMF guda ɗaya da zaren auduga.Takardun na iya faɗaɗa da 45% a cikin yanki (a 1.2 MPa) ko haifar da motsin madauwari a ƙarƙashin matsin lamba.Mun kuma haɗa takarda don ƙirƙirar hannun rigar matsi ta gaba ta haɗe madaurin maganadisu zuwa ƙarshen takardar.Wani samfurin matsi na hannun riga an nuna shi a cikin siffa 6D, wanda aka yi zanen gado na unidirectional daga Nau'in M AMF (duba Hanyoyi) da yarn acrylic don samar da ƙarfin matsawa.Mun sanya ƙarshen zanen gado tare da madauri na Velcro don haɗawa mai sauƙi kuma don girman hannu daban-daban.
Dabarar kamewa, wacce ke juyar da tsawo na layi zuwa motsin lanƙwasa, kuma ana amfani da shi ga zanen gadon saƙa na biyu.Muna saƙa zaren auduga a gefe ɗaya na warp kuma muna saƙa zanen gado don kada su faɗaɗa (Fig. 7A).Don haka, lokacin da AMF guda biyu suka karɓi matsa lamba na ruwa ba tare da juna ba, takardar tana fuskantar motsin lankwasa biyu don samar da tsari mai girma uku na sabani.A wata hanya kuma, muna amfani da yadudduka marasa ƙarfi don iyakance hanya ɗaya na zanen gadon sakaƙa (Hoto 7B).Don haka, takardar na iya yin ƙwanƙwasa mai zaman kanta da motsi mai faɗi lokacin da AMF daidai yake ƙarƙashin matsin lamba.A kan fig.7B yana nuna misali a cikin abin da aka sarrafa takarda mai kaɗe-kaɗe na bidirectional don nannade kusan kashi biyu bisa uku na yatsan ɗan adam tare da motsin lanƙwasa sannan kuma ya shimfiɗa tsawonsa don rufe sauran tare da miƙewa.Hanya biyu na zanen gado na iya zama da amfani ga ƙirar ƙirar ƙira ko haɓakar tufafi masu wayo.
takardar saƙa na bi-directional, takardar saƙa da iyawar ƙira mai faɗaɗawa.(A) Filayen wicker masu haɗin kai-bi-directional don ƙirƙirar lanƙwasa biyu.(B) Ƙimar wicker masu takurawa guda ɗaya suna samar da sassauƙa da tsawo.(C) Tabbataccen saƙa na roba, wanda zai iya dacewa da curvature daban-daban har ma ya samar da tsarin tubular.(D) Ƙayyadaddun layin tsakiya na tsarin faɗaɗa radiyo da ke samar da sifar parabolic hyperbolic (kwayoyin dankalin turawa).
Mun haɗa madaukai biyu kusa da layuka na sama da na ƙasa na ɓangaren saƙa tare da zaren ɗinki don kada ya warware (Fig. 7C).Don haka, takardar da aka saƙa tana da cikakkiyar sassauƙa kuma tana dacewa da magudanar ruwa daban-daban, kamar fatar jikin mutum da hannaye.Mun kuma ƙirƙiri tsarin tubular (hannun hannu) ta hanyar haɗa ƙarshen ɓangaren saƙa a cikin hanyar tafiya.Hannun ya nannade da kyau a kusa da yatsan hannun mutum (Fig. 7C).Sinuosity na masana'anta da aka saka yana ba da kyakkyawar dacewa da rashin daidaituwa, yana sauƙaƙa amfani da shi a cikin sawa mai wayo (safofin hannu, hannayen matsawa), samar da ta'aziyya (ta hanyar dacewa) da tasirin warkewa (ta hanyar matsawa).
Baya ga faɗaɗa radial na 2D a cikin kwatance da yawa, ana iya tsara zanen gadon madauwari don samar da sifofi na 3D.Mun iyakance tsakiyar layi na zagaye braid tare da acrylic yarn don rushe haɓakar haɓakar radial ɗin sa.A sakamakon haka, ainihin siffar lebur ɗin zanen da aka saƙa ya rikiɗe zuwa siffar parabolic hyperbolic (ko kwakwalwan dankalin turawa) bayan dannawa (Fig. 7D).Ana iya aiwatar da wannan ikon canza siffa azaman injin ɗagawa, ruwan tabarau na gani, ƙafafun mutum-mutumi na hannu, ko kuma yana iya zama da amfani a ƙirar ƙira da mutummutumi na bionic.
Mun ɓullo da wata hanya mai sauƙi don ƙirƙirar tuƙi masu sassauƙa ta hanyar manne AMF akan ɗigon masana'anta mara miƙewa (Hoto na 3).Muna amfani da wannan ra'ayi don ƙirƙirar nau'ikan zaren shirye-shirye inda za mu iya rarraba dabarun aiki da yawa a cikin AMF ɗaya don ƙirƙirar sifofin da ake so.Mun ƙirƙira kuma mun tsara filaments masu aiki guda huɗu waɗanda zasu iya canza siffar su daga kai tsaye zuwa harafi (UNSW) yayin da aka ƙara matsa lamba (Ƙarin Hoto S4).Wannan hanya mai sauƙi tana ba da damar nakasar AMF don juya layin 1D zuwa sifofi 2D kuma mai yiwuwa har ma da tsarin 3D.
A cikin irin wannan hanya, mun yi amfani da AMF guda ɗaya don sake saita wani yanki na al'ada na yau da kullum a cikin tetrapod mai aiki (Fig. 8A).Ma'anar tafiyarwa da shirye-shirye sun yi kama da waɗanda aka nuna a hoto na 3C.Duk da haka, maimakon zanen gado na rectangular, sun fara amfani da yadudduka tare da ƙirar quadrupedal (kunkuru, muslin auduga).Sabili da haka, kafafu sun fi tsayi kuma ana iya ɗaga tsarin mafi girma.Tsayin tsarin a hankali yana ƙaruwa a ƙarƙashin matsin lamba har sai ƙafafunsa sun kasance daidai da ƙasa.Idan matsa lamba mai shiga ya ci gaba da tashi, kafafu za su shiga ciki, suna rage girman tsarin.Tetrapods na iya yin locomotion idan ƙafafunsu suna sanye da alamu na unidirection ko amfani da AMF da yawa tare da dabarun sarrafa motsi.Ana buƙatar mutum-mutumi masu laushi masu laushi don ayyuka iri-iri, gami da ceto daga gobarar daji, rugujewar gine-gine ko mahalli masu haɗari, da robobin isar da magunguna na likita.
An sake saita masana'anta don ƙirƙirar sifofi masu canzawa.(A) Manna AMF zuwa iyakar takardar masana'anta, juya shi zuwa tsari mai ƙafafu huɗu.(BD) Wasu misalai guda biyu na sake fasalin nama, juya malam buɗe ido da furanni zuwa masu aiki.Kayan da ba a miƙe ba: muslin auduga na fili.
Har ila yau, muna yin amfani da sauƙi da kuma juzu'in wannan dabarar sake fasalin nama ta hanyar gabatar da ƙarin ƙarin sifofi guda biyu masu haɓaka don sake fasalin (Hoto 8B-D).Tare da AMF mai sauƙi, waɗannan sifofi masu lalacewa ana sake tsara su daga zanen gadon nama zuwa sifofi masu aiki da masu tuƙi.Ilham daga malam malam buɗe ido, mun yi fasalin malam buɗe ido ta hanyar amfani da ƴan masana'anta mai siffar malam buɗe ido (auduga muslin) da wani dogon guntun AMF da ke makale a ƙarƙashin fikafikan sa.Lokacin da AMF ke ƙarƙashin matsin lamba, fuka-fukan suna ninka sama.Kamar Malam Butterfly, Butterfly Robot na hagu da fuka-fukan dama suna kadawa iri ɗaya saboda duka AMF ne ke sarrafa su.Fannin malam buɗe ido don dalilai ne kawai.Ba zai iya tashi kamar Smart Bird (Festo Corp., Amurka).Mun kuma yi furen masana'anta (Hoto 8D) wanda ya ƙunshi yadudduka biyu na petals biyar kowanne.Mun sanya AMF a ƙarƙashin kowane Layer bayan gefen waje na petals.Da farko, furannin suna cikin fure, tare da buɗe dukkan furanni.Ƙarƙashin matsin lamba, AMF yana haifar da motsin lanƙwasawa na petals, yana sa su rufe.AMFs guda biyu suna sarrafa motsi na yadudduka biyu da kansu, yayin da furanni biyar na Layer ɗaya suna jujjuyawa a lokaci guda.
Lokacin aikawa: Dec-26-2022