提出可编程锁紧单元，实现模块化机器人高刚度可调与形态自适应。
Programmable Locking Cells (PLC) for Modular Robots with High Stiffness Tunability and Morphological Adaptability
- 基于腱驱动机械互锁结构，通过缆绳张力实现刚度离散切换。
- 单单元刚度变化可达950%，高负载下仍保持稳定不损坏。
- 适合需要动态调整刚度的模块化机器人，如抓取、越障等场景。
在非结构化环境中运行的机器人需在柔性和刚性状态间切换，以完成自适应抓握、高力操作、形状保持及受限空间导航等任务。然而，现有可变刚度方案多依赖复杂驱动、持续供能或整体式设计，限制了模块化与可扩展性。本文提出可编程锁紧单元（PLC）——一种模块化、腱驱动的单元，通过缆绳张力驱动机械互锁关节，实现刚度的离散调节。每个单元通过结构啮合在柔性与刚性状态间转换，组装系统具备高达950%的单位刚度变化，且在刚性状态下能承受高负载而不受损。多个PLC单元可组合成可重构机器人结构，实现空间可编程刚度。我们通过两个原型验证设计：(1) 可变刚度夹爪，支持自适应抓取、牢固持握与手内操作；(2) 由串联PLC单元构成的管道穿越机器人，在狭小空间中实现形态适应与刚度控制。结果表明，PLC是一种可扩展、以结构为核心的可编程刚度与运动机制，使机器人具备可重构形态与任务自适应交互能力。
原文摘要 · Abstract (English)
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in constrained spaces, among others. However, many existing variable stiffness solutions rely on complex actuation schemes, continuous input power, or monolithic designs, limiting their modularity and scalability. This paper presents the Programmable Locking Cell (PLC)-a modular, tendon-driven unit that achieves discrete stiffness modulation through mechanically interlocked joints actuated by cable tension. Each unit transitions between compliant and firm states via structural engagement, and the assembled system exhibits high stiffness variation-up to 950% per unit-without susceptibility to damage under high payload in the firm state. Multiple PLC units can be assembled into reconfigurable robotic structures with spatially programmable stiffness. We validate the design through two functional prototypes: (1) a variable-stiffness gripper capable of adaptive grasping, firm holding, and in-hand manipulation; and (2) a pipe-traversing robot composed of serial PLC units that achieves shape adaptability and stiffness control in confined environments. These results demonstrate the PLC as a scalable, structure-centric mechanism for programmable stiffness and motion, enabling robotic systems with reconfigurable morphology and task-adaptive interaction.
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