期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 32, 期 3, 页码 736-743出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2016.2558201
关键词
Compliant actuators; Diels-Alder (DA) polymers; robotics; self-healing (SH) material
类别
资金
- European Commission ERC [SPEAR 337596]
- Research Foundation Flanders (FWO)
Natural organisms have a unique property not yet available in robotics, i.e., a self-healing (SH) ability. This powerful biological healing function has inspired chemists to impart similar properties to synthetic materials to create SH materials. Recent developments in SH polymers led us to investigate the potential of using these materials in robotics. This paper presents an innovative approach of using SH polymers, based on the reversible Diels-Alder (DA) reaction, in a compliant actuator. Using DA polymers, a sacrificial SHmechanical fuse (SH-MF) is designed, developed, and validated by placing it in a cable-driven robotic system. The fuse is designed as weakest element and will sacrificially fail if a damaging overload occurs, protecting the compliant element and other components of the system. The experimental results showed that this SH-MF could be healed at a relatively low temperature, recovering the initial mechanical properties. This first working prototype indicates the feasibility to use SH materials in robotics. SH robotics will lead to more sustainable and lighter systems, and eventually to more efficient designs.
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