NRI: Achieving Selective Kinematics and Stiffness in Flexible Robotics

NRI：在柔性机器人中实现选择性运动学和刚度

• 批准号: 1637838
• 负责人: Robert Howe
• 金额: $ 54.75万
• 依托单位: Harvard University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-12-01 至 2020-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1637838&HistoricalAwards=false
• 关键词: NRI; Achieving; Selective; Kinematics; Stiffness

This research project will employ an effect called laminar jamming to create robotic structures that controllably transition between highly compliant and nearly rigid. Precise position control typically requires rigidity, while safe and comfortable interactions with humans requires compliance. The need to incorporate both characteristics arises, for example, in assistive applications such as tremor suppression in Parkinson's disease. It is also necessary for robots working collaboratively with humans in manufacturing settings. Laminar jamming structures are composed of multiple parallel layers that ordinarily slide easily over each other. However, when the laminar structure is squeezed the layers become locked together by friction forces. This project will derive computationally tractable models of laminar structures under external forcing, to enable parametric design and real-time control. Fabrication of laminar jamming devices is simple and inexpensive, lowering barriers to widespread use, both in commercial applications and in educational settings. To ensure dissemination of the results, reference designs, configurations of jamming elements, application prototypes, and testing and performance data will be posted on a popular soft robotics website.The combination of laminar jamming and soft robotics opens an entirely new range of robot designs and behaviors. Because the bending stiffness of a beam is proportional to the third power of its thickness, even a few laminae can produce dramatic increases in stiffness when jammed. The goal of this project is to define the capabilities of the technology and derive and validate the fundamental underlying principles. The project consists of three research subtasks: actuator design and testing, computational and analytical modeling, and implementation of key applications. The results of the project will provide a rich set of building blocks for robots that combine the advantageous features of both soft and rigid robots.

这项研究项目将利用一种称为层流干扰的效应来创造可控制地在高度柔顺和近乎刚性之间转换的机器人结构。精确的位置控制通常需要僵硬，而与人类安全和舒适的互动需要遵守。例如，在帕金森病的震颤抑制等辅助应用中，需要将这两种特征结合起来。在制造环境中，机器人与人类协同工作也是必要的。层流干扰结构是由多个平行层组成的，这些平行层通常很容易相互滑动。然而，当层流结构被挤压时，层被摩擦力锁在一起。该项目将推导出层流结构在外力作用下的易于计算的模型，以实现参数设计和实时控制。层流干扰装置的制造简单且成本低廉，降低了在商业应用和教育环境中广泛使用的障碍。为了确保结果的传播，参考设计、干扰元件的配置、应用原型以及测试和性能数据将发布在一个流行的软机器人网站上。层流干扰和软机器人技术的结合开辟了一个全新的机器人设计和行为范围。由于梁的弯曲刚度与其厚度的三次方成正比，即使是少数几个薄板在受阻时也会产生显著的刚度增加。该项目的目标是定义技术的能力，并派生和验证基本的基本原则。该项目包括三个研究子任务：执行器设计和测试、计算和分析建模以及关键应用的实现。该项目的成果将为机器人提供一套丰富的构建块，这些构建块结合了软机器人和刚性机器人的优点。

项目成果

Tunable Anisotropic Stiffness with Square Fiber Jamming

通过方形光纤干扰可调节各向异性刚度

• DOI: 10.1109/robosoft48309.2020.9116030
• 发表时间: 2020
• 期刊: 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft
• 作者: Aktas, Buse;Howe, Robert D.
• 通讯作者: Howe, Robert D.

Transforming the Dynamic Response of Robotic Structures and Systems Through Laminar Jamming

通过层流干扰改变机器人结构和系统的动态响应

• DOI: 10.1109/lra.2017.2779802
• 发表时间: 2018
• 期刊: IEEE Robotics and Automation Letters
• 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.

Lightweight Highly Tunable Jamming-Based Composites

• DOI: 10.1089/soro.2019.0053
• 发表时间: 2020-04-15
• 期刊: SOFT ROBOTICS
• 影响因子: 7.9
• 作者: Narang, Yashraj S.;Aktas, Buse;Howe, Robert D.
• 通讯作者: Howe, Robert D.

Flexure Mechanisms with Variable Stiffness and Damping Using Layer Jamming

使用层干扰的具有可变刚度和阻尼的弯曲机构

• 发表时间: 2019
• 期刊: Proceedings of the IEEERSJ International Conference on Intelligent Robots and Systems
• 作者: Aktas, Buse;Howe, Robert D.
• 通讯作者: Howe, Robert D.

http://dx.doi.org/10.1016/j.euromechsol.2019.02.002

http://dx.doi.org/10.1016/j.euromechsol.2019.02.002

• 发表时间: 2019
• 期刊: European journal of mechanics
• 作者: Vasios, Nikolaos;Narang, Yashraj;Aktaş, Buse;Howe, Robert;Bertoldi, Katia.
• 通讯作者: Bertoldi, Katia.