Design and Testing of a Soft Robot with Variable Stiffness Based on Jamming Principles

被引：0
|
作者：
Xu F. [1 ]
Jiang Q. [2 ]
Jiang F. [1 ]
Shen J. [1 ]
Wang X. [3 ]
Jiang G. [1 ]
机构：
[1] College of Automation, Nanjing University of Posts and Telecommunications, Nanjing
[2] College of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou
[3] College of Mechanical Engineering, Southeast University, Nanjing
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2020年 / 56卷 / 23期
关键词：
Experimental research; Particle jamming; Soft robot; Three-dimensional printing; Variable stiffness;
D O I：
10.3901/JME.2020.23.067
中图分类号：
学科分类号：
摘要：
A soft robot has high flexibility when performing tasks with moving and high stiffness, so it has important application in exploring and detecting complex environments. Based on the advantages of driving Pneu-Net and driven jamming mechanism, a soft robot with real-time variable stiffness and dynamic modeling methods is proposed. Firstly, the model of the soft actuator coupling pneumatic structure and jamming mechanism is established. Secondly, by using Hertzian contact model, a mathematical model of robot motion and theoretically investigated formation mechanisms of variable stiffness is built. Moreover, the pneumatically-driven structure is analyzed by using the finite element as well as the influences of pressure in cavities, considering shape and size of cavities on the bending angle of the soft robot are studied. Based on this, the pneumatically-driven structure is optimized. Finally, A prototype and testing of the soft robot arm with variable stiffness is implemented, which verified the variable stiffness and motion performances of the soft actuator. This study provides new theoretical and technical support for the design and stiffness control of a soft robot with variable stiffness. © 2020 Journal of Mechanical Engineering.
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页码：67 / 77
页数：10
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