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In this lesson, determine the ratio of the maximum bending moments applied to two metal pipes, given that both pipes can withstand a maximum stress of 100 MPa. Both pipes have an outer radius of 1.8 cm. Pipe A has an inner radius of 1.5 cm, and Pipe B has an inner radius of 1 cm. The ratio of the maximum bending moment applied to two metallic pipes, each with a different inner and outer radius, is determined by considering their dimensions. The inner radius of the first pipe is 1.5 cm, and for...
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Phase Changing Materials-Based Variable-Stiffness Tensegrity Structures.

Davide Zappetti1, Seung Hee Jeong1, Jun Shintake1,2

  • 1Institute of Microengineering, School of Engineering, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland.

Soft Robotics
|December 19, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces novel variable-stiffness tensegrity structures (VSTSs) using variable-stiffness cables. These VSTSs achieve significant stiffness changes, enabling advanced soft robotic applications.

Keywords:
self-deployabilityshape lockingsoft roboticstensegrityunderactuationvariable stiffness

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft robots utilize deformable bodies for locomotion and navigation.
  • Variable-stiffness structures enhance soft robot capabilities like force transmission and shape locking.
  • Tensegrity structures offer a biologically inspired design for soft robots, but existing variable-stiffness versions have limitations.

Purpose of the Study:

  • To present a novel design approach for variable-stiffness tensegrity structures (VSTSs).
  • To demonstrate VSTSs using variable-stiffness cables (VSCs) for enhanced performance.
  • To validate the capabilities of the proposed VSTS in diverse robotic applications.

Main Methods:

  • Developed VSTSs employing variable-stiffness cables (VSCs) made from low melting point alloys.
  • Implemented a three-strut tensegrity structure as a proof of concept.
  • Tested VSTS performance in beam, self-deploying, and joint configurations.

Main Results:

  • Achieved unprecedented stiffness changes: 28x in compression and 13x in bending.
  • Demonstrated tunable load-bearing capacity in a beam structure.
  • Showcased self-deployment and shape-locking capabilities, along with underactuated joint deformations.

Conclusions:

  • The proposed VSTS design offers significant improvements in stiffness modulation for soft robots.
  • Variable-stiffness cables are effective in creating high-performance tensegrity structures.
  • The demonstrated applications highlight the potential of VSTSs in advanced soft robotics.