AI 中文总结
研究针对软机器人稳定性不足问题，提出通过塑性变形实现的连续稳定结构并集成到软夹爪，利用塑性变形机制、引入生物启发 paw 垫、开发数学模型及优化折纸结构，提升了夹爪稳定性和抓取能力，在多种场景表现良好。
AI 中文摘要
软机器人因其固有的柔顺性和适应性在交互任务中得到广泛应用，但其稳定性往往不足，在动态环境中构成挑战，尤其在软夹爪中，加速或外部干扰下的不稳定性可能导致抓握失败。本研究提出一种通过塑性变形实现的连续稳定结构（CSSPD）并集成到软夹爪中。利用塑性变形机制，夹爪无需能量输入就能保持连续构型，增加的刚度确保了静态和动态稳定性。引入受生物启发的 paw 垫显著增强稳定性并实现基于传感的快速物体抓取。还开发了数学模型并优化金属层的折纸结构。实验结果表明，该夹爪在无能量输入时能承受高达 16 N 的被动夹持力，与 0.3 MPa 的气动驱动性能相当。与气动驱动结合时，在高达 400 m/s² 的脉冲加速度下仍保持稳定，还能在无动力情况下长时间被动栖息在树枝上，对移动机器人应用有前景。
英文摘要
Soft robots have seen widespread adoption in interactive tasks due to their inherent compliance and adaptability. However, these advantages often come at the cost of stability, posing challenges in a dynamic environment. This limitation is especially critical in soft grippers, where instability under acceleration or external disturbances can result in grasp failure. In this study, we present a continuously stable structure through plastic deformation (CSSPD), integrated into a soft gripper. By leveraging the mechanism of plastic deformation, the gripper maintains continuous configurations without energy input, while the added stiffness ensures both static and dynamic stability. We introduce a bioinspired paw pad that significantly enhances stability and enables sensing-based rapid object grasping. Then we develop the mathematical model and optimize the kirigami structure of the metal layer. Experimental results show that the gripper can sustain a passive holding force of up to 16 N without energy input, achieving performance comparable to pneumatic actuation at 0.3 MPa. When combined with pneumatic actuation, it remains stable under pulsed accelerations of up to 400 m/s^2. It can also passively perch on tree branches for extended periods without power, demonstrating promise for mobile robotic applications.
Comments24 pages, 8 figures
