Variable Stiffness Compliant Mechanisms and Robots Based on Layer Jamming

该研究将通过开发计算工具来支持基于层塞材料的变刚度机构的建模和设计，从而推动科学的进步。层塞材料可根据需要在软硬模式之间切换，可用于柔顺机构和软机器人的结构中。这项研究的具体成果包括：（a）新的复杂模型的层干扰材料;（B）综合理论，以支持设计的顺应机制和机器人的层干扰材料;和（c）实验验证的计算设计工具。理论创新和计算工具将应用于实践，通过开发开放的硬件平台的机器人夹具和连续体机器人与可调刚度。这项研究将使软机器人能够高度适应复杂的环境，同时仍然足够强大，以完成苛刻的任务。这些机器人系统将使许多领域受益，包括微创手术，制造业的检查和维护以及国防工业的监控。该项目的其他成果包括为K-12学生提供工程教育和研究经验，在大学一级开设新的工程课程，并为代表性不足的少数民族提供外展计划。该研究的总体目标是开发，验证和测试一个理论框架，用于设计分析和合成柔性机构和具有可变刚度的机器人，通过层干扰材料实现。这些机器人可以通过其变化的刚度，通过可变的运动学拓扑结构转换成特定于任务的配置。研究成果将包括一套计算设计工具，其中包括层堵塞材料的摩擦模型，伪刚体模型，以及变刚度柔性机构设计的综合理论。新的理论框架将显着提高我们的能力，设计层干扰为基础的可变刚度顺应机制和机器人，解决高灵活性和高性能的竞争要求。为了扩大K-12教育的参与和推广，该项目将利用几个当地的推广计划，包括麦德龙早期学院高中（MECHS）实习和俄亥俄州州立大学的工程研究转化为K-8（TEK 8）计划，这两个奖项都为代表性不足的学生提供了机会。该奖项反映了NSF的法定使命，并被认为是值得通过评估使用的支持基金会的学术价值和更广泛的影响审查标准。

This research will promote the progress of science by developing computational tools to support the modeling and design of variable stiffness mechanisms based on layer jamming materials. Layer jamming materials can switch between soft and hard modes on demand and can be used in the structures of compliant mechanisms and soft robots. The specific deliverables of this research include: (a) novel sophisticated models of layer jamming materials; (b) synthesis theories to support the design of compliant mechanisms and robots made of layer jamming materials; and (c) experimentally validated computational design tools. The theoretical innovations and computational tools will be applied to practice by developing open hardware platforms of robotic grippers and continuum robots with tunable stiffness. This research will enable the construction of soft robots that are highly adaptive to complex environments while still being strong enough to complete demanding tasks. These robotic systems will benefit numerous fields, including minimally invasive surgery, inspection and maintenance in manufacturing, and surveillance for the defense industry. Additional deliverables of this project include engineering education and research experiences for K-12 students, new engineering curricula at the college level, and outreach initiatives for under-represented minorities.The overarching goal of this research is to develop, validate, and test a theoretical framework for design analysis and synthesis of compliant mechanisms and robots with variable stiffness, enabled by layer jamming materials. These robots can transform into task-specific configurations through variable kinematic topology via their changing stiffness. The research outcomes will include a set of computational design tools that encompass frictional models of layer jamming materials, pseudo-rigid-body models, and synthesis theories for the design of variable stiffness compliant mechanisms. The new theoretical framework will significantly enhance our ability to design layer jamming-based variable stiffness compliant mechanisms and robots that address competing requirements for high flexibility and high performance. To broaden participation and outreach in K-12 education, this project will leverage several local outreach programs, including the Metro Early College High School (MECHS) internship and the Translating Engineering Research to K-8 (TEK8) program at the Ohio State University, both of which provide opportunities for underrepresented students.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.