Tunable stiffness Kirigami gripper based on shape memory polymer and supercoiled polymer artificial muscle for multi-mode grasping

IF 3.7 3区材料科学 Q1 INSTRUMENTS & INSTRUMENTATION

Smart Materials and Structures Pub Date : 2024-08-22 DOI:10.1088/1361-665x/ad6ed1

Yang Yang, Peng Wang, Jia Liu, Yili Fu, Yang Shen

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引用次数: 0

Abstract

In this article, a tunable stiffness soft gripper based on Kirigami structure and shape memory polymer (SMP) is proposed. The Kirigami gripper uses SMP as variable stiffness element and employs Nichrome heating wires laid inside the gripper as heating element. Due to the segmented layout of the heating wires, the gripper possesses segmented stiffness modulation capability. As a result, programmable deformation trajectories are achieved, enabling multi-mode grasping functionality by adjusting its bending shape to accommodate different object contours. Using the thermally activated supercoiled polymer artificial muscle as the actuator, the gripper can achieve a silent and pumpless actuation and whole robotic system can be compact. The gripper mainly offers three different grasping modes—pinching, wrapping and hooking, to meet the requirements of complex tasks. Experimental results show that the Kirigami gripper can achieve a 13 times stiffness variation within 16 s, and each Kirigami gripper with different heating patterns exhibits different trajectories during the deformation process, capable of adapting and locking its shape to objects with different contours during grasping.

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基于形状记忆聚合物和超卷曲聚合物人工肌肉的可调刚度桐神抓手，用于多模式抓取

本文提出了一种基于 Kirigami 结构和形状记忆聚合物（SMP）的可调刚度软抓手。Kirigami 机械手使用 SMP 作为可变刚度元件，并采用铺设在机械手内部的镍铬加热丝作为加热元件。由于加热丝的分段布局，该机械手具有分段刚度调节能力。因此，可编程变形轨迹得以实现，通过调整其弯曲形状来适应不同的物体轮廓，从而实现多模式抓取功能。通过使用热激活超卷曲聚合物人工肌肉作为执行器，该机械手可实现无声、无泵驱动，整个机器人系统结构紧凑。该机械手主要提供三种不同的抓取模式--夹、缠和钩，以满足复杂任务的要求。实验结果表明，Kirigami 机械手可在 16 秒内实现 13 倍的刚度变化，而且每个具有不同加热模式的 Kirigami 机械手在变形过程中会呈现出不同的轨迹，能够在抓取不同轮廓的物体时适应并锁定其形状。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Smart Materials and Structures 工程技术-材料科学：综合

CiteScore

7.50

自引率

12.20%

发文量

317

审稿时长

3 months

期刊介绍： Smart Materials and Structures (SMS) is a multi-disciplinary engineering journal that explores the creation and utilization of novel forms of transduction. It is a leading journal in the area of smart materials and structures, publishing the most important results from different regions of the world, largely from Asia, Europe and North America. The results may be as disparate as the development of new materials and active composite systems, derived using theoretical predictions to complex structural systems, which generate new capabilities by incorporating enabling new smart material transducers. The theoretical predictions are usually accompanied with experimental verification, characterizing the performance of new structures and devices. These systems are examined from the nanoscale to the macroscopic. SMS has a Board of Associate Editors who are specialists in a multitude of areas, ensuring that reviews are fast, fair and performed by experts in all sub-disciplines of smart materials, systems and structures. A smart material is defined as any material that is capable of being controlled such that its response and properties change under a stimulus. A smart structure or system is capable of reacting to stimuli or the environment in a prescribed manner. SMS is committed to understanding, expanding and dissemination of knowledge in this subject matter.