可变形机器人通过可调刚度结构实现低自由度高灵巧性，降低制造自动化成本。
Malleable Robots
- 采用可变刚度架构，动态调整机械臂柔韧度以提升操作灵活性。
- 仅用少于6个自由度即可完成传统六轴机械臂的任务，减少驱动器数量。
- 适合需要灵活协作的工厂自动化场景，尤其关注成本与效率平衡。
本章探讨了一种新型协作机械臂——可变形机器人的基础制造、控制与人机交互技术。这类机器人基于可调节刚度的可变架构，旨在以较低自由度实现高灵巧性。传统协作机器人通常采用六自由度或更多串联臂结构，以适应复杂空间和多任务需求。然而，一旦特定任务（如抓取放置）确定，末端执行器的运动通常只需不足6个自由度即可完成。可变形机器人的目标是弥合现有协作机器人在柔性、易用性与低驱动器数量之间的技术差距，推动更经济高效的制造自动化落地。
原文摘要 · Abstract (English)
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for achieving high dexterity with lower mobility arms. Collaborative robots, or cobots, commonly integrate six or more degrees of freedom (DOF) in a serial arm in order to allow positioning in constrained spaces and adaptability across tasks. Increasing the dexterity of robotic arms has been indeed traditionally accomplished by increasing the number of degrees of freedom of the system; however, once a robotic task has been established (e.g., a pick-and-place operation), the motion of the end-effector can be normally achieved using less than 6-DOF (i.e., lower mobility). The aim of malleable robots is to close the technological gap that separates current cobots from achieving flexible, accessible manufacturing automation with a reduced number of actuators.
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