可堆叠软机械臂通过模块化设计实现多段重构，大幅扩展工作空间。
A Novel Modular Cable-Driven Soft Robotic Arm with Multi-Segment Reconfigurability
- 模块化结构支持独立控制每一段，可自由堆叠扩展
- 三段式配置使平面工作区面积扩大13倍、体积扩增38.9倍
- 可通过调节硅胶硬度平衡柔韧与承重能力，适配不同任务
本文提出一种新型模块化缆绳驱动软体机械臂，具备多段可重构特性。该架构支持可堆叠设计，各段独立控制，能灵活适应多样结构与应用需求。机械臂采用软硅胶材料，内置腱绳导引通道，并采用双螺旋保护腱结构。实验表明，模块化堆叠显著拓展了可达工作空间：相比单段臂，三段配置在平面工作区面积上提升13倍，工作空间体积增加38.9倍。同时研究了硅胶硬度对执行器性能的影响，结果显示存在柔顺性与刚度的权衡：较软硅胶提升弯曲灵活性，较硬硅胶增强结构刚性和负载稳定性。这些结果证明，通过调节硬度可有效平衡柔顺与强度，为构建可扩展、可重构的软体机械臂提供可行路径。
原文摘要 · Abstract (English)
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse structural and application requirements. The system is fabricated from soft silicone material and incorporates embedded tendon-routing channels with a protective dual-helical tendon structure. Experimental results showed that modular stacking substantially expanded the reachable workspace: relative to the single-segment arm, the three-segment configuration achieved up to a 13-fold increase in planar workspace area and a 38.9-fold increase in workspace volume. Furthermore, this study investigated the effect of silicone stiffness on actuator performance. The results revealed a clear trade-off between compliance and stiffness: softer silicone improved bending flexibility, while stiffer silicone improved structural rigidity and load-bearing stability. These results highlight the potential of stiffness tuning to balance compliance and strength for configuring scalable, reconfigurable soft robotic arms.
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