克日，由美國(guo)哈佛(fo)大學微型(xing)機器(qi)人實(shi)驗室打造的小型(xing)航行(xing)機器(qi)人Robobee取得了新沖破(po)——實(shi)現了正在柔(rou)軟的“天然肌肉”驅動下的受控航行(xing)，即由硬(ying)驅動器(qi)供給(gei)能(neng)源以(yi)實(shi)現受控航行(xing)。現階(jie)段。這一結果登載正在最新一期(qi)的《Nature》上。

據悉，Robobee正(zheng)(zheng)在(zai)(zai)(zai)碰到墻(qiang)壁(bi)、地板、玻璃盒子或其(qi)他(ta)機(ji)器人(ren)(ren)(ren)時(shi)，可(ke)以(yi)(yi)“幸(xing)免(mian)于(yu)難”，那得益于(yu)研(yan)(yan)(yan)(yan)討(tao)(tao)(tao)(tao)(tao)團隊開辟(pi)的(de)(de)(de)硬(ying)(ying)驅(qu)動(dong)(dong)器。該驅(qu)動(dong)(dong)器存在(zai)(zai)(zai)充足下的(de)(de)(de)功(gong)率(lv)(lv)(lv)(lv)密度跟(gen)可(ke)控(kong)(kong)性，可(ke)以(yi)(yi)實(shi)現機(ji)器人(ren)(ren)(ren)的(de)(de)(de)懸(xuan)停航(hang)(hang)(hang)行(xing)(xing)(xing)。為了(le)(le)實(shi)現硬(ying)(ying)驅(qu)動(dong)(dong)機(ji)器人(ren)(ren)(ren)的(de)(de)(de)受控(kong)(kong)懸(xuan)停航(hang)(hang)(hang)行(xing)(xing)(xing)，研(yan)(yan)(yan)(yan)討(tao)(tao)(tao)(tao)(tao)職員重點辦(ban)理(li)兩方面的(de)(de)(de)應(ying)戰：開辟(pi)存在(zai)(zai)(zai)充足功(gong)率(lv)(lv)(lv)(lv)密度的(de)(de)(de)硬(ying)(ying)驅(qu)動(dong)(dong)器，并(bing)計劃驅(qu)動(dong)(dong)跟(gen)控(kong)(kong)制(zhi)策略以(yi)(yi)辦(ban)理(li)履行(xing)(xing)(xing)非線(xian)性問題。起(qi)首，為了(le)(le)辦(ban)理(li)功(gong)率(lv)(lv)(lv)(lv)密度問題，研(yan)(yan)(yan)(yan)討(tao)(tao)(tao)(tao)(tao)職員正(zheng)(zheng)在(zai)(zai)(zai)開辟(pi)的(de)(de)(de)電(dian)(dian)驅(qu)動(dong)(dong)硬(ying)(ying)驅(qu)動(dong)(dong)器的(de)(de)(de)根底上停止研(yan)(yan)(yan)(yan)討(tao)(tao)(tao)(tao)(tao)，并(bing)開辟(pi)了(le)(le)多(duo)層松(song)散的(de)(de)(de)DEA，其(qi)功(gong)率(lv)(lv)(lv)(lv)密度為600Wkg-1，無需預(yu)應(ying)變(bian)；其(qi)次(ci)，研(yan)(yan)(yan)(yan)討(tao)(tao)(tao)(tao)(tao)職員將(jiang)DEA集成到輕便的(de)(de)(de)襟翼機(ji)構中(zhong)，并(bing)應(ying)用(yong)體系共振去(qu)消弭由(you)非線(xian)性換(huan)能(neng)惹起(qi)的(de)(de)(de)高(gao)(gao)次(ci)諧波；然后，DEA被裝(zhuang)置(zhi)正(zheng)(zheng)在(zai)(zai)(zai)輕型(xing)機(ji)身上，DEA的(de)(de)(de)兩頭毗鄰到立(li)(li)體四(si)桿(gan)變(bian)速器。同(tong)時(shi)，研(yan)(yan)(yan)(yan)討(tao)(tao)(tao)(tao)(tao)職員借計劃了(le)(le)一(yi)個155mg的(de)(de)(de)襟翼模塊，這些模塊可(ke)以(yi)(yi)組(zu)裝(zhuang)成幾種設置(zhi)，并(bing)展現出RoboBee各類航(hang)(hang)(hang)行(xing)(xing)(xing)才能(neng)，如主(zhu)動(dong)(dong)不變(bian)的(de)(de)(de)回升(sheng)航(hang)(hang)(hang)行(xing)(xing)(xing)跟(gen)節(jie)制(zhi)懸(xuan)停航(hang)(hang)(hang)行(xing)(xing)(xing)。四(si)翼雙作(zuo)動(dong)(dong)器模子可(ke)以(yi)(yi)正(zheng)(zheng)在(zai)(zai)(zai)混亂的(de)(de)(de)情(qing)況(kuang)中(zhong)航(hang)(hang)(hang)行(xing)(xing)(xing)，并(bing)正(zheng)(zheng)在(zai)(zai)(zai)一(yi)次(ci)航(hang)(hang)(hang)行(xing)(xing)(xing)中(zhong)克制(zhi)屢次(ci)碰撞。研(yan)(yan)(yan)(yan)討(tao)(tao)(tao)(tao)(tao)職員默(mo)示，為了(le)(le)使軟體空中(zhong)機(ji)器人(ren)(ren)(ren)可(ke)能(neng)自立(li)(li)航(hang)(hang)(hang)行(xing)(xing)(xing)，將(jiang)來的(de)(de)(de)研(yan)(yan)(yan)(yan)討(tao)(tao)(tao)(tao)(tao)須要降低硬(ying)(ying)執行(xing)(xing)(xing)器的(de)(de)(de)工作(zuo)電(dian)(dian)壓，進步(bu)其(qi)功(gong)率(lv)(lv)(lv)(lv)服(fu)從，并(bing)進一(yi)步(bu)提高(gao)(gao)其(qi)功(gong)率(lv)(lv)(lv)(lv)密度。為了(le)(le)進步(bu)轉(zhuan)換(huan)服(fu)從，研(yan)(yan)(yan)(yan)討(tao)(tao)(tao)(tao)(tao)職員能(neng)夠會采取(qu)電(dian)(dian)驅(qu)動(dong)(dong)硬(ying)(ying)執行(xing)(xing)(xing)器的(de)(de)(de)新架構，例如電(dian)(dian)液(ye)Peano-HASEL執行(xing)(xing)(xing)器，可(ke)以(yi)(yi)利用(yong)柔性金(jin)屬電(dian)(dian)極(ji)去(qu)削(xue)減電(dian)(dian)阻損(sun)耗；為了(le)(le)進步(bu)功(gong)率(lv)(lv)(lv)(lv)密度，研(yan)(yan)(yan)(yan)討(tao)(tao)(tao)(tao)(tao)職員能(neng)夠摸索存在(zai)(zai)(zai)更(geng)高(gao)(gao)介電(dian)(dian)強度跟(gen)更(geng)低粘彈(dan)性的(de)(de)(de)電(dian)(dian)活性聚(ju)合(he)物(wu)，并(bing)將(jiang)其(qi)歸入將(jiang)來的(de)(de)(de)柔軟人(ren)(ren)(ren)工航(hang)(hang)(hang)行(xing)(xing)(xing)肌肉中(zhong)。哈(ha)佛微(wei)型(xing)機(ji)器人(ren)(ren)(ren)實(shi)驗(yan)室由(you)RobertWood傳授(shou)樹立(li)(li)，附屬哈(ha)佛大學(xue)約翰(han)·保(bao)爾森工程(cheng)與(yu)應(ying)用(yong)科學(xue)學(xue)院。該實(shi)驗(yan)室擁有(you)新型(xing)機(ji)器人(ren)(ren)(ren)計劃、制(zhi)備、測試的(de)(de)(de)多(duo)種儀器跟(gen)設備，經(jing)由(you)過(guo)程(cheng)實(shi)驗(yan)性的(de)(de)(de)方式去(qu)開辟(pi)機(ji)器人(ren)(ren)(ren)，并(bing)用(yong)于(yu)研(yan)(yan)(yan)(yan)討(tao)(tao)(tao)(tao)(tao)微(wei)機(ji)器、致動(dong)(dong)技巧、流體力(li)學(xue)、節(jie)制(zhi)跟(gen)微(wei)電(dian)(dian)子學(xue)中(zhong)的(de)(de)(de)基礎(chu)科學(xue)問題。該實(shi)驗(yan)室研(yan)(yan)(yan)(yan)討(tao)(tao)(tao)(tao)(tao)標的(de)(de)(de)目(mu)的(de)(de)(de)分(fen)為微(wei)型(xing)機(ji)器人(ren)(ren)(ren)、仿生(sheng)機(ji)器人(ren)(ren)(ren)跟(gen)軟體機(ji)器人(ren)(ren)(ren)三類，曾出生(sheng)過(guo)RoboBee、HAMR、Octobot等有(you)名(ming)的(de)(de)(de)機(ji)器人(ren)(ren)(ren)體系。