用一体打印+珠子锁紧，让软体机械臂又柔又硬。
JAMMit! Monolithic 3D-Printing of a Bead Jamming Soft Pneumatic Arm
- 一体3D打印集成珠子脊柱，实现柔性与刚性的统一。
- 锁紧后刚度提升4.8倍，同时保留65%的运动范围。
- 适合需要灵活操作又需承重的机器人场景。
3D打印的波纹状软体气动机械臂因设计灵活、易制造和大变形能力而广泛应用，但其低刚性限制了实际应用。尽管已有多种增强软体执行器刚性的方法，但多数涉及复杂的制造工艺，不符合现代单体化、自动化的增材制造目标。珠子锁紧技术因其简单高效，成为解决此问题的有效方案。本文提出一种一体式3D打印波纹状软体气动机械臂的方法，集成碗形珠子构成的肌腱驱动中央脊柱。通过实验表征了该机械臂在未锁紧和锁紧状态下的运动范围，以及不同气动与锁紧条件下刚度变化。结果表明，在保持65%运动范围的前提下，可实现4.8倍的刚度提升，并据此制定最优锁紧策略。该设计在拨动开关任务中得到验证，展示了其在实际应用中的潜力。
原文摘要 · Abstract (English)
3D-printed bellow soft pneumatic arms are widely adopted for their flexible design, ease of fabrication, and large deformation capabilities. However, their low stiffness limits their real-world applications. Although several methods exist to enhance the stiffness of soft actuators, many involve complex manufacturing processes not in line with modern goals of monolithic and automated additive manufacturing. With its simplicity, bead-jamming represents a simple and effective solution to these challenges. This work introduces a method for monolithic printing of a bellow soft pneumatic arm, integrating a tendon-driven central spine of bowl-shaped beads. We experimentally characterized the arm's range of motion in both unjammed and jammed states, as well as its stiffness under various actuation and jamming conditions. As a result, we provide an optimal jamming policy as a trade-off between preserving the range of motion and maximizing stiffness. The proposed design was further demonstrated in a switch-toggling task, showing its potential for practical applications.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。