Design of structure-constrained programmable compliant skin based on snap-through elements
Programmable compliant skin has important application value in the fields of soft robotics,flexible electronics,and compliant mechanics.The design of many existing skins based on snap-through elements has suffered from limited parameter design space and coupling of thresholds and strokes,which restrict their further applications in the aforementioned fields.In this paper,through the proposal of structure-constrained snap-through elements,a compliant skin with a simultaneously programmable force threshold and working stroke is proposed.By systematically characterizing the relationship between the structural parameters of the snap-through element and its force threshold and working stroke,a mathematical relation is derived between them.Furthermore,a constraint structure is introduced to solely regulate the stroke.Then,a mathematical mapping of its structural parameters and working stroke is established.Based on the proposed structure-constrained snap-through skin,precise regulation of the skin's working stroke can be realized under the condition that the mechanical threshold is nearly unchanged.Finally,the feasibility of our proposed method for the regulation of multilevel gradient behavior is further verified.Our proposed method decouples the codesign of the force threshold and working stroke and broadens the design space of compliant skins,making the snap-through process smoother.Our method is thus beneficial for the broad application of compliant skins in the field of soft robotics and flexible electronics.
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维普
