Investigation on a New Approach for Designing Articulated Soft Robots with Discrete Variable Stiffness

doi:10.1109/TMECH.2021.3049592

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	Investigation on a New Approach for Designing Articulated Soft Robots with Discrete Variable Stiffness
	Y. Zhong; R. Du; P. Guo and H. Yu
刊名	IEEE/ASME Transactions on Mechatronics
	2021
卷号	26 期号:6 页码:2998-3009
ISSN号	10834435
DOI	10.1109/TMECH.2021.3049592
英文摘要	Soft robots made of elastic and compliant materials offer various advantages, such as safe interaction, adaptiveness, and easy fabrication. However, the highly dissipative nature of elastic materials intrinsically limits certain functions, such as force transmission, positioning accuracy, and load capability. Herein, in this article, we present a design approach for developing articulated soft robots with variable stiffness. We propose a bioinspired bistable articulated joint that consists of a rigid joint and bistable structures. We realize stiffness change through forming a locking function by triggering the bistable structure to switch between two stable states. The trigger force is generated by heating shape memory alloy springs connected to the bistable structures. After the locking function is triggered, the bending stiffness of the articulated joint is highly amplified. Moreover, the joint can be locked at different angles through mechanically preprograming bistable structures fabricated with a single three-dimensional print. With this approach, we developed an articulated soft robot as a case study. The robot demonstrated variable stiffness, changeable configurations, and a large workspace. Moreover, the approach proposed in this article provides valuable insights into the utilization of bistability for developing variable-stiffness robotic systems. 2021 IEEE.
URL标识	查看原文
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/65363]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	Y. Zhong,R. Du,P. Guo and H. Yu. Investigation on a New Approach for Designing Articulated Soft Robots with Discrete Variable Stiffness[J]. IEEE/ASME Transactions on Mechatronics,2021,26(6):2998-3009.
APA	Y. Zhong,R. Du,&P. Guo and H. Yu.(2021).Investigation on a New Approach for Designing Articulated Soft Robots with Discrete Variable Stiffness.IEEE/ASME Transactions on Mechatronics,26(6),2998-3009.
MLA	Y. Zhong,et al."Investigation on a New Approach for Designing Articulated Soft Robots with Discrete Variable Stiffness".IEEE/ASME Transactions on Mechatronics 26.6(2021):2998-3009.