可变半径的柔顺机械臂模块，能收缩至原尺寸80%-85%。
Development of Underactuated Geometric Compliant (UGC) Module with Variable Radial for Robotic Applications
- 通过几何结构设计柔顺关节，实现可调刚度与回弹角度。
- 原型模块可动态缩放半径，收缩率达80%-85%仍保持结构完整。
- 适合需要柔性适应与轻量化设计的机器人应用场景。
本文提出一种新型欠驱动几何柔顺（UGC）机器人，并研究具有可变径向刚度的欠驱动柔顺模块行为，旨在提升UGC机器人的多功能性与适应性。研究首先设计并制造多种半刚性几何柔顺关节，针对不同设计目标进行优化；通过物理测试验证其刚度特性与回弹角度作为耐久性指标。随后，基于高斯过程回归建立数学模型，融合厚度等几何参数，实现可3D打印的全功能原型开发。在分析单个关节基础上，提出多种构型组合构建整体UGC模块。最终原型可在保持结构完整性和运行效率的前提下，动态调节半径至原尺寸的80%-85%。论文探讨了该模块在应用中的潜力、挑战与局限，为未来UGC机器人研究提供重要参考。
原文摘要 · Abstract (English)
This paper introduces a novel underactuated geometric compliant (UGC) robot and investigates the behaviors of underactuated compliant modules with variable radial stiffness, aiming to enhance the versatility and functionality of UGC robots. We initiate the study by designing and fabricating various compliant semi-rigid geometric joints, each tailored to a specific design objective. These joints undergo physical testing to validate their stiffness characteristics and returnable angles as durability factors. Subsequently, we develop a mathematical model based on Gaussian process regression to incorporate the different geometric joint characteristics, including thickness, facilitating the development of fully functional prototypes with easy-to-3D print models. After analyzing individual joints, we present various configurational combinations to construct the overall UGC module for robotics applications. Our final prototype UGC can dynamically alter its radius, reducing to 80-85\% of its original value while maintaining structural integrity and operational efficiency. This study discusses potential abilities, challenges, and limitations associated with employing UGC modules, offering valuable insights for future research and developments in UGC robotics.
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