Achieving Mechanical Versatility in Robots and Structures Through Laminar Jamming
Achieving Mechanical Versatility in Robots and Structures Through Laminar Jamming
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通过层流干扰实现机器人和结构的机械多功能性
DOI：
10.1109/robosoft.2018.8404929
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Yashraj S. Narang
中科院分区：
文献类型：
--
作者：
Yashraj S. Narang
在机器人学中有两种主要的物理范例--软式机器人和传统的刚性机器人。软机器人由柔顺材料制成，具有良好的适应性、健壮性和安全性，而传统的刚性机器人由刚性材料制成，具有出色的分辨率、精度、速度和承载能力。建立一个单一的系统，可以有选择地像软机器人或传统的刚性机器人一样工作，一直是该领域的一项重大挑战。在这篇论文中，我们严格地研究了一种有希望的机制，它可以帮助统一这些范式。其机制是层流干扰，当施加压力梯度时，一堆柔性层可以表现出其机械性能(例如，刚度)的显著变化。当层流干扰结构被集成到软机器人中时，它们就可以开始显示出传统刚性系统的形式和功能。这种机制在2000年的机器人学文献中首次被报道[1]。然而，令人惊讶的是，许多基本问题仍未得到探索：例如，这种现象背后的物理机制是什么？如何预测层流干扰结构在小载荷和大载荷下以及在动态运动期间的变形？除了僵硬，这种现象还能改变哪些其他机械特性？在这篇论文中，我们演示了层流干扰现象是如何工作的；层流干扰结构如何改变机器人系统的刚度、阻尼、运动学和动态响应；设计者如何将设计参数与性能指标联系起来；以及如何将层流干扰结构的性能推高到最先进的水平。在这样做的过程中，我们的目标是培育不能简单地归类为“软”或“硬”的机器人和结构，而是表现出高度通用的机械行为。
There are two major physical paradigms in robotics—soft robots and traditional rigid robots. Soft robots are made of compliant materials and have excellent adaptivity, robustness, and safety, whereas traditional rigid robots are made of stiff materials and have outstanding resolution, precision, speed, and load capacity. Building a single system that can selectively behave like either a soft or traditional rigid robot has been a grand challenge of the field. In this thesis, we rigorously investigate a promising mechanism that can help unite these paradigms. The mechanism is laminar jamming, in which a stack of flexible layers can exhibit dramatic changes in its mechanical properties (e.g., stiffness) when a pressure gradient is applied. When laminar jamming structures are integrated into soft robots, they can begin to exhibit the form, and consequently the function of traditional rigid systems. The mechanism was first reported in the robotics literature in 2000 [1]. However, a surprising number of fundamental questions have been left unexplored: For instance, what is the physical mechanism behind the phenomenon? How can the deformation of laminar jamming structures be predicted for both small and large loads, as well as during dynamic motions? Beyond stiffness, what other mechanical properties can the phenomenon change? In this thesis, we demonstrate how the laminar jamming phenomenon works; how laminar jamming structures can transform the stiffness, damping, kinematics, and dynamic response of robotic systems; how designers can relate design parameters to performance metrics; and how the performance of laminar jamming structures can be pushed well past the state-of-the-art. In doing so, we aim to foster robots and structures that cannot simply be classified as “soft” or “rigid,” but instead exhibit highly versatile mechanical behavior.
DOI：
10.1249/mss.0b013e31802b3562
发表时间：
2007-03-01
期刊：
MEDICINE AND SCIENCE IN SPORTS AND EXERCISE
影响因子：
--
作者：
Browning, Raymond C.;Modica, Jesse R.;Goswami, Ambarish
通讯作者：
Goswami, Ambarish
通过层流干扰改变机器人结构和系统的动态响应
影响因子：
5.2
作者：
Narang, Yashraj S.;Degirmenci, Alperen;Vlassak, Joost J.;Howe, Robert D.
通讯作者：
Howe, Robert D.
影响因子：
19
作者：
Narang, Yashraj S.;Vlassak, Joost J.;Howe, Robert D.
通讯作者：
Howe, Robert D.