论文标题
预应力的双稳定发夹机构，用于更快的游泳机器人
Pre-stressed Bi-stable Hair Clip Mechanism for Faster Swimming Robots
论文作者
论文摘要
结构不稳定性是一种危害，导致灾难性失败，通常通过特殊设计避免。然而，在过去的几十年中，出现了一种趋势，指出利用了不稳定的机制。受头发夹的捕捉的启发，我们正在阐述横向横向弯曲的独特特征，并在一个新领域的圆顶圆顶薄壁结构的刺穿：平面内的预贴机构。分析揭示了如何实现面内预应力执行器（IPA）的2d-3d组装以及如何显示后持续的能量景观。将它们与软机器人技术结合在一起，我们表明，包含Bissable IPA可以极大地提高水下鱼机器人的性能，并激发手指般的软握手。
Structural instability is a hazard that leads to catastrophic failure and is generally avoided through special designs. A trend, however, has emerged over the past decades pointing to the harnessing of mechanisms with instability. Inspired by the snapping of a hair clip, we are finessing the unique characteristics of the lateral-torsional buckling of beams and the snap-through of pre-buckled dome-like thin-wall structures in a new field: the in-plane prestressed mechanism. Analyses reveal how the 2D-3D assembly of an in-plane prestressed actuator (IPA) is achieved and how the post-buckling energy landscape is pictured. Combining them with soft robotics, we show that the inclusion of a bistable IPA can enormously enhance the performance of an underwater fish robot as well as inspire a finger-like soft gripper.
