首页|Biomimetic soft robotic wrist with 3-DOF motion and stiffness tunability based on ring-reinforced pneumatic actuators and a particle jamming joint
Biomimetic soft robotic wrist with 3-DOF motion and stiffness tunability based on ring-reinforced pneumatic actuators and a particle jamming joint
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维普
The human wrist,a complex articulation of skeletal muscles and two-carpal rows,substantially contributes to improvements in maneuverability by agilely performing three-degree-of-freedom(3-DOF)orienting tasks and regulating stiffness according to variations in interaction forces.However,few soft robotic wrists simultaneously demonstrate dexterous 3-DOF motion and variable stiffness;in addition,they do not fully consider a soft-rigid hybrid structure of integrated muscles and two carpal rows.In this study,we developed a soft-rigid hybrid structure to design a biomimetic soft robotic wrist(BSRW)that is capable of rotating in the x and y directions,twisting around the z-axis,and possessing stiffness-tunable capacity.To actuate the BSRW,a lightweight soft-ring-reinforced bellows-type pneumatic actuator(SRBPA)with large axial,linear deformation(ηlcmax=70.6％,ηlemax=54.3％)and small radial expansion(ηdemax=3.7％)is designed to mimic the motion of skeletal muscles.To represent the function of two-carpal rows,a compact particle-jamming joint(PJJ)that combines particles with a membrane-covered ball-socket mechanism is developed to achieve various 3-DOF motions and high axial load-carrying capacity(＞60 N).By varying the jamming pressure,the stiffness of the PJJ can be adjusted.Finally,a centrally positioned PJJ and six independently actuated SRBPAs,which are in an inclined and antagonistic arrangement,are sandwiched between two rigid plates to form a flexible,stable,and compact BSRW.Such a structure enables the BSRW to have a dexterous 3-DOF motion,high load-carrying ability,and stiffness tunability.Experimental analysis verify 3-DOF motion of BSRW,producing force of 29.6 N and 36 N and torque of 2.2 Nm in corresponding rotations.Moreover,the range of rotational angle and stiffness-tuning properties of BSRW are studied by applying jamming pressure to the PJJ.Finally,a system combining a BSRW and a soft enclosing gripper is proposed to demonstrate outstanding manipulation capability in potential applications.
State Key Laboratory of Precision Manufacturing for Extreme Service Performance,School of Mechanical and Electrical Engineering,Central South University Changsha 410083,China
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维普
