摘要
Layer jamming structures(LJSs)are variable-stiffness elements used in soft robotics to enhance loadbearing capacities.The complexity of interactions within these structures has impeded the development of a comprehensive model,often making LJS design reliant on empirical experience.Existing models primarily focus on straight beams under specific conditions,thus exhibiting limited applicability.To address these challenges,we developed a novel model that specifically investigates the bending deformation characteristics of LJS beams.Through finite element analysis,we analyzed the stress distribution and stress increments during bending and established a relationship between stress and external loads.From this foundation,we derived a governing deformation equation that is applicable to all LJS beams and can address the issue of large deformation under complex loading conditions through an iterative algorithm.Our model was validated experimentally and proven to be highly accurate in predicting the effects of layer thickness,hydrostatic pressure,and cyclic loading.This research substantially advances the understanding of LJS mechanical behavior,laying the groundwork for the development of sophisticated applications and structural designs in this rapidly evolving field.
基金
supported by the Open Project of Hebei Industrial Manipulator Control and Reliability Technology Innovation Center,Hebei University of Water Resources and Electric Engineering,China(Grant No.JXKF2103)
in part by the National Natural Science Foundation of China(Grant No.52375030)
by the Hebei Provincial Department of Education Higher Education Science and Technology Program,China(Grant No.CXY2024004).
