Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China.
Bioinspir Biomim. 2019 Sep 13;14(6):066007. doi: 10.1088/1748-3190/ab3d1b.
Inspired by the physiological structure of the hand capable of realizing the continuous change in finger stiffness when grasping objects of different masses, a self-locking soft continuum robot with a large variable-stiffness range based on particle jamming and fibre jamming is proposed in this paper to meet the requirements of it in practical application. In this paper, a variable stiffness range is derived due to the good fluidity and rigidity of the spherical particles and the low elasticity and high toughness of the fibres. Then, an analysis model is established to deduce its self-locking condition, and the deflection angle of self-locking under the influence of external force is about 0.17 rad. The maximum stiffness of the experimental prototype can reach 1223.58 N m due to the limitation of the experimental materials, despite the fact that the theoretical stiffness can be increased infinitely after self-locking. To explain the adaptability of the robot, the adaptive conditions of the soft continuum robot with variable stiffness are deduced. A new evaluation index, the adaptive intensity of the soft continuum robot, is introduced and the adaptability experiments are carried out. In adaptability experiments, the maximum bending angle of the continuum robot reaches 108°. Finally, the adaptability of the soft continuum robot to different geometries is discussed.
受人手能够在抓取不同质量物体时实现连续变化手指刚度这一生理结构的启发，本文提出了一种基于颗粒堆积和纤维堆积的自锁软连续体机器人，具有较大的变刚度范围，以满足其在实际应用中的要求。本文利用球形颗粒良好的流动性和刚性以及纤维低弹性和高韧性的特点，得到了较大的变刚度范围。然后，建立了一个分析模型来推导其自锁条件，并且在外力作用下的自锁偏转角约为 0.17rad。由于实验材料的限制，实验样机的最大刚度可达 1223.58N·m，尽管自锁后理论刚度可以无限增加。为了解释机器人的适应性，推导了变刚度软连续体机器人的自适应条件。引入了一个新的评价指标，即软连续体机器人的自适应强度，并进行了适应性实验。在适应性实验中，连续体机器人的最大弯曲角度达到 108°。最后，讨论了软连续体机器人对不同形状的适应性。
