Preliminary experimental study on variable stiffness structures based on fiber jamming for soft robots
Preliminary experimental study on variable stiffness structures based on fiber jamming for soft robots
复制标题
基于纤维干扰的软体机器人变刚度结构初步实验研究
DOI：
--
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
M. Cianchetti
中科院分区：
文献类型：
--
作者：
M. Brancadoro;M. Manti;S. Tognarelli;M. Cianchetti
软机器人技术在使用软材料制造机器人方面开启了一系列新的技术挑战。改变刚度的能力是最重要的能力之一，因为它使调整与环境交换的力成为可能。颗粒状和层状干扰转变已经被证明是发展变刚度结构的一种很有前途的方法，但到目前为止还没有专门针对光纤干扰的研究。本文对光纤干扰在圆柱体结构中的应用进行了初步的对比研究。使用不同材料的纤维作为填料，在弯曲条件下进行了测试。结果表明，该方法可以获得高达380%的刚度增加，这与使用颗粒干扰的类似装置上收集的数据一致。讨论了主要力学和几何参数的作用：弹性性能是基础，但只有在纤维有序排列的情况下才能获得最佳性能；几何特征似乎是次要的，但表面粗糙度在防止滑动方面起着重要作用。这是一个初步的研究，但它已经定义了第一套指导方针，可以帮助和促进未来在软系统中光纤干扰的开发和集成方面的工作。
Soft robotics opened a new set of technological challenges in using soft materials to build robots. The ability of change stiffness is among the most important, because it enables the possibility to tune forces exchanged with the environment. Granular and layer jamming transition have already demonstrated to be a promising approach for developing variable stiffness structures, but no studies have been dedicated to specifically fiber jamming so far. In this paper, we report a preliminary comparative study on fiber jamming applied to cylindrical structures. Fibers of different materials have been used as filler and tested under bending conditions. The results show that up to 380% of stiffness increase can be achieved, in line with data collected on similar devices that use granular jamming. The role of the main mechanical and geometrical parameters have been discussed: elastic properties are fundamental, but optimal performance can be achieved only with ordered arrangements of the fibers; geometrical features seem secondary, but surface roughness has an important role in preventing sliding. This is a preliminary study, but it already defines a first set of guidelines that can help and promote future works on the development and integration of the fiber jamming in soft systems.