Design and Motion Simulation of Variable Stiffness Bending Soft Actuators Driven by Granular Flow

被引：2
|
作者：
Han F. [1 ,3 ]
Li P. [1 ,3 ]
Li M. [1 ,3 ]
Tian L. [2 ,3 ]
机构：
[1] College of Mechanical and Electrical Engineering, Central South University, Changsha
[2] Light Alloys Research Institute, Central South University, Changsha
[3] State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha
来源：
| 1600年 / Chinese Mechanical Engineering Society卷 / 31期
关键词：
Granular flow; Jamming; Motion simulation; Soft actuator; Variable stiffness;
D O I：
10.3969/j.issn.1004-132X.2020.08.002
中图分类号：
学科分类号：
摘要：
To improve the carrying capacity of soft robot, a variable stiffness bending soft actuator was designed by utilizing both of the characteristics, flow and jamming of granular matter. A prototype of variable stiffness bending soft actuator was designed and made based on the mechanics of granular matter. Elastoplastic joint model and Ogden hyperelastic constitutive model individually describing the granular matter and the deformation cavity materials were obtained through experiments. Finite element simulation methods of the soft actuator motion processes were proposed. The experimental platform of variable stiffness soft actuator was set up. Bending angle errors obtained by the experiments and simulations are about 15.6%. The carrying capacity may increase about 1.75 times by using granular jamming principle. © 2020, China Mechanical Engineering Magazine Office. All right reserved.
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页码：890 / 897
页数：7
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