将螺旋结构与刚性连杆结合，实现可定制的软硬混合机器人设计。
Design of Trimmed Helicoid Soft-Rigid Hybrid Robots
- 采用修剪式螺旋结构与刚性连杆串联，融合软硬材料优势。
- 建立任意几何形状的刚度力学模型，支持精确设计。
- 提供注塑成型制造方法及3D打印模具生成工具，适合快速原型开发。
随着软体机器人设计的发展，研究者逐渐采用复杂的设计范式以构建更适用的平台。两种典型范式是软硬混合机器人（在设计中引入刚性结构材料）和结构化材料（其变形由几何参数决定，而非仅依赖材料属性）。本文结合这两种方法，将修剪式螺旋结构与刚性连杆串联使用。同时，扩展了受波簧启发的软结构研究，推导出任意几何形态下的刚度机械模型。提出一种新型注塑成型制造方法，并提供设计工具以生成适用于此类结构的3D打印模具。最终，基于上述方法制作出一台机器人，并在闭环控制下完成演示验证。
原文摘要 · Abstract (English)
As soft robot design matures, researchers have converged to sophisticated design paradigms to enable the development of more suitable platforms. Two such paradigms are soft-rigid hybrid robots, which utilize rigid structural materials in some aspect of the robot's design, and architectured materials, which deform based on geometric parameters as opposed to purely material ones. In this work, we combine the two design approaches, utilizing trimmed helicoid structures in series with rigid linkages. Additionally, we extend the literature on wave spring-inspired soft structures by deriving a mechanical model of the stiffness for arbitrary geometries. We present a novel manufacturing method for such structures utilizing an injection molding approach and we make available the design tool to generate 3D printed molds for arbitrary designs of this class. Finally, we produce a robot using the above methods and operate it in closed-loop demonstrations.
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