Mechanically Versatile Soft Machines through Laminar Jamming
Mechanically Versatile Soft Machines through Laminar Jamming
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DOI：
10.1002/adfm.201707136
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发表时间：
2018-04-25
影响因子：
19
通讯作者：
Howe, Robert D.
中科院分区：
文献类型：
--
作者：
Narang, Yashraj S.;Vlassak, Joost J.;Howe, Robert D.
机器人技术有两种主要的结构范例：软机器，舒适、耐用且安全；以及传统的刚性机器人，它们快速、精确且能够施加强大的力量。在这里，通过使软机器能够像传统的刚性机器人一样接受命令来连接范例。这项任务是通过层流干扰来完成的，层流干扰是一种结构现象，当施加压力梯度时，顺应性条带的层压板通过摩擦而紧密耦合，从而导致机械性能发生巨大变化。开发了层流干扰的严格分析和有限元模型，并对干扰结构进行了实验表征，表明该模型具有高度准确性。然后，干扰结构被集成到软机器中，使它们能够选择性地表现出传统刚性机器人的刚度、阻尼和运动学。这些模型允许干扰结构有效地满足任意性能规格，物理演示说明了如何构建可以随意表现得像软机器或传统刚性机器人的系统，例如可以快速让关节出现和消失的连续机械手。这项研究旨在培育新一代机械多功能机器和结构，不能简单地分为“软”或“刚性”。
There are two major structural paradigms in robotics: soft machines, which are conformable, durable, and safe; and traditional rigid robots, which are fast, precise, and capable of applying high forces. Here, the paradigms are bridged by enabling soft machines to behave like traditional rigid robots on command. This task is accomplished via laminar jamming, a structural phenomenon in which a laminate of compliant strips becomes strongly coupled through friction when a pressure gradient is applied, causing dramatic changes in mechanical properties. Rigorous analytical and finite element models of laminar jamming are developed, and jamming structures are experimentally characterized to show that the models are highly accurate. Then jamming structures are integrated into soft machines to enable them to selectively exhibit the stiffness, damping, and kinematics of traditional rigid robots. The models allow jamming structures to efficiently meet arbitrary performance specifications, and the physical demonstrations illustrate how to construct systems that can behave like either soft machines or traditional rigid robots at will, such as continuum manipulators that can rapidly have joints appear and disappear. This study aims to foster a new generation of mechanically versatile machines and structures that cannot simply be classified as "soft" or "rigid."