Why the study?
The study was conducted to improve the stiffness and rigidity of flexible robots.
The proposed variable-stiffness elastic actuator significantly improves compressive and lateral stiffness in flexible robots as air pressure increases.
May enhance flexible robot actuators; leaves open clinical translation or cardiovascular device use.
In order to improve the stiffness of the flexible robot,this paper proposes a variable-stiffness elastic actuator to improve the rigidity of flexible robots. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage. the tensile stiffness of the actuator is nonlinearly negatively correlated with the air pressure because of the structural and material properties.The compressive stiffness and lateral stiffness increases nonlinearly as air pressure increases, being 3and 121 times greater at 0.17 MPa compared to 0 MPa, respectively. Beyond 0.17 MPa, the two stiffness of the actuator experiences incremental growth due to wedge impedance forces.
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Peng et al. (2023) studied this question.
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