论文标题
一种生物启发的刚度可调吸盘，可用于被动适应和牢固地依恋角底物
A Bioinspired Stiffness Tunable Sucker for Passive Adaptation and Firm Attachment to Angular Substrates
论文作者
论文摘要
适应和符合角度和不平坦的表面的能力可以提高吸力杯在抓握和操纵方面的性能。但是，在大多数情况下，适应成本缺乏表面附着后的操纵所需的刚度；因此，理想的情况是在适应和僵硬的表面后具有依从性。然而，吸入杯中的大多数刚度调制技术都需要额外的驱动。本文提出了一个新的刚度可调吸力杯，可适应陡峭的角度表面。使用颗粒状堵塞作为真空驱动的刚度调制，为激活机制提供了无传感器。因此，该设计由连接到颗粒状茎的常规活动吸气垫组成，模拟了在适应过程中符合的铰链行为，并确保附着后具有较高的刚度。在实验过程中，吸入杯可以适应高达85度的角度，力低于0.5N。我们还研究了颗粒状茎的长度对适应的影响，以及与无刚度调节的被动适应性相比，该设计的性能与该设计的性能相比。
The ability to adapt and conform to angular and uneven surfaces improves the suction cup's performance in grasping and manipulation. However, in most cases, the adaptation costs lack of required stiffness for manipulation after surface attachment; thus, the ideal scenario is to have compliance during adaptation and stiffness after attachment to the surface. Nevertheless, most stiffness modulation techniques in suction cups require additional actuation. This article presents a new stiffness tunable suction cup that adapts to steep angular surfaces. Using granular jamming as a vacuum driven stiffness modulation provides a sensorless for activating the mechanism. Thus, the design is composed of a conventional active suction pad connected to a granular stalk, emulating a hinge behavior that is compliant during adaptation and has high stiffness after attachment is ensured. During the experiment, the suction cup can adapt to angles up to 85 degrees with force lower than 0.5 N. We also investigated the effect of granular stalk's length on the adaptation and how this design performs compared to passive adaptation without stiffness modulation.
