High Strength Inflatable Pouch Anchors
Autor: | Donald Ruffatto, Michael T. Tolley, Dylan Drotman, Paul Glick |
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Rok vydání: | 2020 |
Předmět: |
Control and Optimization
Computer science Payload Mechanical Engineering Biomedical Engineering Internal pressure Mechanical engineering Mobile robot Computer Science Applications Human-Computer Interaction Inflatable Artificial Intelligence Control and Systems Engineering Computer Vision and Pattern Recognition Adhesive Pouch Sandpaper |
Zdroj: | IEEE Robotics and Automation Letters. 5:3761-3767 |
ISSN: | 2377-3774 |
Popis: | Anchoring is an important capability for mobile robots to conserve power, survey an area, or deploy a payload. However, the careful placement of an anchor in unstructured environments requires a great deal of dexterity, perception, and planning. Furthermore, many of the reversible adhesives that may be used for anchoring are surface-dependent. We introduce inflatable pouch anchors as a versatile, low-power, and easy-to-position technology for anchoring in natural surfaces. By using negative space such as gaps and cracks with a flexible pouch, the challenge of placing an anchor is greatly simplified. We used a compressed CO$_2$ canister to supply pressure, and a three-way normally-closed valve to allow for multiple uses. We tested the anchor with high friction interfaces such as microspines and gecko-inspired adhesives. We validated the performance with tests on smooth acrylic, sandpaper, manufactured rock, and natural rock. The 425 g anchor actuated at an internal pressure of 105 kPa held over 700 N when anchored in natural rock with a microspine interface. |
Databáze: | OpenAIRE |
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