通过塑性变形实现软夹爪持续稳定，无需耗能即可承重16N。
Continuously Stable Structure through Plastic Deformation
- 利用塑性变形机制保持夹爪形变，无需能量输入
- 被动持力达16N，抗脉冲加速度400 m/s²
- 适合移动机器人长期悬停，如攀树抓握
软体机器人因具备本征柔性和适应性，在交互任务中得到广泛应用。然而，其稳定性常因动态环境下的加速度或外部扰动而受损，这一问题在软体夹爪中尤为突出，可能导致抓取失败。本文提出一种通过塑性变形实现连续稳定的结构（CSSPD），集成于软体夹爪中。借助塑性变形机制，夹爪可在无能量输入情况下维持连续构型，新增刚度保障了静态与动态稳定性。我们引入仿生爪垫，显著提升稳定性并支持基于感知的快速物体抓取。同时构建数学模型，优化金属层的基里加米（kirigami）结构。实验表明，该夹爪在无能耗条件下可承受最高16 N的被动持力，性能媲美气动驱动在0.3 MPa下的表现；结合气动驱动后，可在高达400 m/s²的脉冲加速度下保持稳定。此外，夹爪还能在无电源情况下长期悬停于树枝上，展现出在移动机器人应用中的潜力。
原文摘要 · Abstract (English)
Soft robots have seen widespread adoption in interactive tasks due to their inherent compliance and adaptability. However, these advantages often come at the cost of stability, posing challenges in a dynamic environment. This limitation is especially critical in soft grippers, where instability under acceleration or external disturbances can result in grasp failure. In this study, we present a continuously stable structure through plastic deformation (CSSPD), integrated into a soft gripper. By leveraging the mechanism of plastic deformation, the gripper maintains continuous configurations without energy input, while the added stiffness ensures both static and dynamic stability. We introduce a bioinspired paw pad that significantly enhances stability and enables sensing-based rapid object grasping. Then we develop the mathematical model and optimize the kirigami structure of the metal layer. Experimental results show that the gripper can sustain a passive holding force of up to 16 N without energy input, achieving performance comparable to pneumatic actuation at 0.3 MPa. When combined with pneumatic actuation, it remains stable under pulsed accelerations of up to 400 m/s^2. It can also passively perch on tree branches for extended periods without power, demonstrating promise for mobile robotic applications.
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