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
	2021
发表期刊	IEEE/ASME Transactions on Mechatronics
ISSN	10834435
卷号	26 期号:6 页码:2998-3009
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.
DOI	10.1109/TMECH.2021.3049592
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收录类别	SCI ; EI
引用统计
文献类型	期刊论文
条目标识符	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.

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