Variable stiffness element by granular jamming (Stiffness enhancement by a wrinkle-free outer membrane)
Variable stiffness element by granular jamming (Stiffness enhancement by a wrinkle-free outer membrane)
复制标题
通过颗粒干扰实现可变刚度元件（通过无皱外膜增强刚度）
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
T. Mitsuda
中科院分区：
文献类型：
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作者：
Yuma Kitagawa;T. Mitsuda
当元件内部的空气被抽空时，装有颗粒的柔性袋变得刚性。使用颗粒状卡紧的可变刚度元件已被用于触觉显示器和机器人矫形器，这得益于柔软且轻质的主体。然而，使可变刚度元件变形会导致膜上的褶皱，这会降低元件的刚度并使其不稳定。可变刚度元件上的褶皱是由于外膜的不可拉伸性。拉伸膜减少了褶皱，但显著降低了元件的刚度。这项研究提出了一种无摩擦的变刚度元件，其外膜是可拉伸的，但只有当元件内的空气被抽空时才是刚性的。传统元件内部的颗粒量限制了元件的可变形范围。另一方面，新型刚度元件可以容纳更多的颗粒而不损失任何变形范围，这增加了元件的刚度。当元件内部的空气被排空时，可拉伸的外膜还减少了由褶皱引起的元件的不期望的变形。本研究之实验结果证实，无摩擦变刚度单元之刚度比传统刚度单元更大且更稳定。
A flexible bag containing particles becomes rigid when the air inside the element is evacuated. Variable stiffness elements using granular jamming have been used for haptic displays and robotic orthoses helped by the soft and lightweight body. However, deforming variable stiffness elements causes wrinkles on the membrane, which decrease and destabilize the stiffness of the element. The wrinkles on variable stiffness elements are due to the non-stretchability of the outer membrane. A stretched membrane reduces wrinkles but decreases the stiffness of the element dramatically. This study suggests a wrinkle-free variable stiffness element with an outer membrane that is stretchable but rigid only when the air inside the element is evacuated. The amount of particles inside conventional elements limits the deformable range of the elements. On the other hand, the novel stiffness element can hold more particles without any loss of the deformable range, which increases the stiffness of the element. The stretchable outer membrane also reduces undesirable deformations of the element caused by wrinkles when the air inside the element is evacuated. The experimental results of this study confirm that the stiffness of the wrinkle-free variable stiffness element is greater and more stable than a conventional stiffness element.