The granular jamming integrated actuator

摘要: Soft robotics have opened a new field of flexible and dexterous manipulators. However, actuators to maximize robot's workspace remain in their infancy. For snake-like robot, actuation is emphasized on joint bending, which the control bending angle curvature. State art can only independently one two. This paper presents granular jamming integrated actuator (JIA) both curvature independently. The JIA achieves this with its design, consists granular-filled, bellowed walled membrane wrapped braided fiber sleeve. When inflated positive pressure, expands elongates axial direction. air flow reversed vacuum achieved, granules within stiffen it. By using jamming, JIAs bundle restrict movement neighboring elongating actuator. Our tests show that type vary curvature, while maintaining desired angle, by modulating pressure differential between bundle.