Abstract
In this paper, soft-morphing, deformation control by fabric structures and soft-jumping mechanisms using magnetic yield points are studied. The durability and adaptability of existing rigid-base jumping mechanisms are improved by a soft-morphing process that employs the residual stress of a polymer. Although rigid body-based jumping mechanisms are used, they are driven by multiple components and complex structures. Therefore, they have drawbacks in terms of shock durability and fatigue accumulation. To improve these problems, soft-jumping mechanisms are designed using soft polymer materials and soft-morphing techniques with excellent shock resistance and environmental adaptability. To this end, a soft jumping mechanism is designed to store energy using the air pressure inside the structure, and the thickness of the polymer layer is adjusted based on the method applied for controlling the polymer freedom and residual stress deformation. The soft jumping mechanism can transfer energy more efficiently and stably using an energy storage and release mechanism and the rounded ankle structure designed using soft morphing. Therefore, the soft morphing and mechanisms of energy retention and release were applied to fabricate a soft robot prototype that can move in the desired direction and jump; the performance experiment was carried out.
Highlights
The development of Fourth Industrial Revolution technologies has resulted in the extensive application of these technologies in various fields and industries; various robots and production processes have been recently developed for more efficient and safe work.Robots produced through new materials and new manufacturing methods are applied to perform various tasks that were performed manually
The residual stress the residual stress of the foot and body parts of the soft jumping robot, which are controlled of the foot and body parts of the soft jumping robot, which are controlled by thickness, by the soft jumping yields a different degree of strain
A soft morphing substrate manufacturing method was presented in this study
Summary
The development of Fourth Industrial Revolution technologies has resulted in the extensive application of these technologies in various fields and industries; various robots and production processes have been recently developed for more efficient and safe work.Robots produced through new materials and new manufacturing methods are applied to perform various tasks that were performed manually. Big Dog [2] at Boston Dynamics to develop a robot that can be applied immediately to multiple environments without changing the design or control of the drive. These robots have limitations in terms of accessibility, manufacturing process, and the high cost of the technology required to build the robot. Soft robots are made of soft materials, such as polymers, that absorb shocks well and are adaptable to objects These materials have advantages in that they can be used to build robots that can be applied to various environments with simpler control. It is difficult to apply a drive that requires instantaneous release of great force, such as a jump, to a soft robot
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