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Honeycomb Jamming: An Enabling Technology of Variable Stiffness Reconfiguration
Dickson Chun Fung Li1, Zerui Wang1, Jianshu Zhou1,2
1Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong, China.
Soft Robotics
|March 26, 2021
Summary
This study introduces a novel variable stiffness mechanism for soft robotics, enabling rapid transitions between flexible and rigid states. The innovative reconfiguration strategy enhances stiffening capacity and allows precise control over stiffness and region adjustments.
Area of Science:
- Robotics
- Materials Science
- Mechanical Engineering
Background:
- Jamming technologies offer variable stiffness but face limitations in stiffening capacity and position control.
- Existing methods struggle with broad applications due to restricted performance.
Purpose of the Study:
- To present a novel variable stiffness mechanism with enhanced stiffening capacity and precise control over stiffness and stiffening regions.
- To enable rapid flexible-to-rigid state transitions in soft robotics with biocompatibility and fail-safe design.
Main Methods:
- Introduced a variable stiffness reconfiguration strategy to control stiffness, position, and area of stiffening regions.
- Empirically evaluated the mechanism, comparing its performance against other variable stiffness strategies.
- Developed finite element and analytical models to simulate and predict mechanism behavior.
Main Results:
- The proposed mechanism demonstrated superior stiffening capability compared to existing strategies.
- Successfully showed additional functions like reproducing complex manipulator postures and customizing soft grippers.
- Optimal parameters for the honeycomb structure were experimentally determined.
Conclusions:
- The variable stiffness reconfiguration approach offers a versatile solution for soft robotics, enabling advanced functionalities.
- The developed mechanism significantly improves upon current variable stiffness technologies, broadening application possibilities.
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