期刊
SOFT ROBOTICS
卷 8, 期 6, 页码 720-734出版社
MARY ANN LIEBERT, INC
DOI: 10.1089/soro.2019.0188
关键词
variable stiffness; honeycomb core; jamming; variable stiffness reconfiguration
类别
资金
- HK RGC [T42-409/18-R, 14202918]
- CUHK-SJTU Joint Research Fund [4750352]
- VC Fund of the CUHK T Stone Robotics Institute, CUHK [4930745]
- Shenzhen Science and Technology Commission via the Shenzhen-HK Collaborative Zone Project
Jamming technologies are a promising approach for variable stiffness mechanisms, but face limitations such as restricted stiffening capacity and position. This article introduces a variable stiffness mechanism that achieves rapid transition from flexible to rigid states with biocompatibility and enhanced stiffening capacity, utilizing a novel strategy called variable stiffness reconfiguration. This approach provides a new solution for controlling stiffness and adjusting stiffening regions in soft robotics, enabling complex manipulator postures and customized grippers.
Jamming technologies are one of the promising approaches of variable stiffness mechanisms. However, there are problems limiting the broad application of jamming-based approaches such as a limited stiffening capacity and restricted stiffening position. This article presents a variable stiffness mechanism to achieve a rapid flexible to rigid state transition with biocompatibility, fail-safe design, and enhanced stiffening capacity. A novel strategy of reconfiguration of stiffening regions, which is entitled variable stiffness reconfiguration, is exploited to control not only the stiffnesses but also the positions and areas of the stiffening regions. At first, this article provides a new approach to the variable stiffness soft robotics community to enable both stiffness control and stiffening region adjustment. In this way, additional functions of the variable stiffness mechanisms including reproducing complex manipulator postures or customizing the soft gripper, through delivering functional units into or out of the devices, are demonstrated. Through reconfiguration, our design provides a generally applicable solution for a wide range of complex manipulator postures reproduced and objects grasped by reconfiguration of the stiffening regions. The variable stiffness mechanism is empirically evaluated with a comparison with other variable stiffness strategies in which the proposed solution shows greater stiffening capability, and an experimental search of optimal parameters of the honeycomb structure is presented. Finite element models, which have shown reasonable agreement with the empirical results, are constructed to model the stiffnesses, and an analytic model of the manipulator is derived to predict the posture.
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