A 3D Printed Soft Robotic Gripper With a Variable Stiffness Enabled by a Novel Positive Pressure Layer Jamming Technology
A 3D Printed Soft Robotic Gripper With a Variable Stiffness Enabled by a Novel Positive Pressure Layer Jamming Technology
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一种基于新型正压夹持技术的3D打印变刚度软机器人夹具
DOI：
10.1109/lra.2022.3157448
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发表时间：
2022-04-01
影响因子：
5.2
通讯作者：
Su, Hai-Jun
中科院分区：
文献类型：
--
作者：
Crowley, George B.;Zeng, Xianpai;Su, Hai-Jun
在这项研究中，开发了一种基于新型正压层干扰技术的可变刚度柔性机器人夹持器，并采用定制增材制造技术制造了两种材料。针对夹持器的刚度调整问题，提出了一种新的正层干扰技术。正压层干扰比传统的真空层干扰具有更高的性能潜力，因为可以施加更高的压力，在有效载荷能力方面大约高1.6倍。两种不同的热塑性塑料材料印刷在一起，形成一个相对坚硬的骨干和一个相对柔软的气密驱动波纹管。将描述正层干扰的实现，以及用于生产夹持器的增材制造技术和最终设计的测试结果。实验结果表明，该软夹持器在正层干扰下刚度变化约25倍。研究表明，与传统的真空层干扰技术相比，正压干扰提供了一种改变软机器人刚度的新方法，具有更高的有效载荷能力。
In this research, a soft robotic gripper with a variable stiffness enabled by a novel positive pressure layer jamming technology was developed and fabricated in two materials using customized additive manufacturing. A novel positive layer jamming technology was developed for tuning stiffness of the gripper. Positive pressure layer jamming has a higher performance potential than conventional vacuum layer jamming since a higher pressure can be applied, approximately 1.6x higher in terms of payload capacity. Two different thermoplastics materials are printed together to form a relatively hard backbone and a relatively soft airtight actuation bellows. The implementation of positive layer jamming will be described, along with the additive manufacturing techniques used to produce the gripper and the test results of the final design. Experimental tests show that this soft gripper was able to vary its stiffness about 25x fold with the positive layer jamming. This work demonstrates that the positive pressure jamming offers a novel method for varying soft robot stiffness with higher payload capacity than the conventional vacuum based layer jamming technology.