通过齿状结构实现软机器人刚度可调，提升操控灵活性。
An Experimental Characterization of Mechanical Layer Jamming Systems
- 采用双层多材料齿状结构实现机械层堵塞
- 弯曲刚度提升5倍，扭转刚度提升3.2倍
- 量化分层分离力，指导实际应用设计
自然界中的生物如章鱼和厚皮动物利用刚度调节实现灵活的附肢控制。本文研究一种流行的刚度调节机制——层堵塞现象，特别聚焦于机械层堵塞，通过带有齿状突起的双层多材料结构实现。我们识别出关键设计参数，包括刚度调节能力，并在弯曲和扭转载荷下进行一系列综合测试，分析所选设计参数（主要是齿形）对堵塞结构性能的影响。结果表明，该结构在弯曲时刚度最大提升5倍，在扭转时提升3.2倍。同时测量了两层堵塞后分离所需的力，这一常被忽视的参数在堵塞刚度变化研究中具有重要意义。本研究旨在为机械层堵塞系统的原理化设计提供指导，帮助研究人员根据具体应用场景选择合适的设计。
原文摘要 · Abstract (English)
Organisms in nature, such as Cephalopods and Pachyderms, exploit stiffness modulation to achieve amazing dexterity in the control of their appendages. In this paper, we explore the phenomenon of layer jamming, which is a popular stiffness modulation mechanism that provides an equivalent capability for soft robots. More specifically, we focus on mechanical layer jamming, which we realise through two-layer multi material structure with tooth-like protrusions. We identify key design parameters for mechanical layer jamming systems, including the ability to modulate stiffness, and perform a variety of comprehensive tests placing the specimens under bending and torsional loads to understand the influence of our selected design parameters (mainly tooth geometry) on the performance of the jammed structures. We note the ability of these structures to produce a peak change in stiffness of 5 times in bending and 3.2 times in torsion. We also measure the force required to separate the two jammed layers, an often ignored parameter in the study of jamming-induced stiffness change. This study aims to shed light on the principled design of mechanical layer jammed systems and guide researchers in the selection of appropriate designs for their specific application domains.
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