Development of a Tendon Driven Variable Stiffness Continuum Robot with Layer Jamming
Authors: Zhong Ouyang
AI-generated Key Points
- Research project aimed to design, fabricate and test a tendon-driven continuum soft robot with three modular segments
- Each segment has tunable stiffness enabled by layer jamming technology
- Modular structure allows for length of arm to be adjusted by adding extra modules/segments
- Robotic arm design supports motion within a 3-dimensional space
- Variable stiffness robotic arm with compliant main structure and layer jamming mechanism was designed and fabricated
- Connectors were designed and fabricated to integrate several link modules into one robotic arm with multiple segments
- Actuator located at the base of the arm was designed and tested
- Stiffness test conducted on one arm segment to verify load carrying capacity
- Modular design allows for greater flexibility in adjusting length of robotic arm while supporting motion in 3D space
- Results demonstrate that such robots can be used in various applications where compliance is necessary for safe interaction with humans or delicate objects while maintaining sufficient strength for practical use cases.
Abstract: The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the robotic arm design of this project has a modular structure, which means the length of the robotic arm can be adjusted by addition of extra arm modules/segments to the existing robotic prototype. Furthermore, the new arm prototype supports motion within a 3-dimensional space. To achieve the goals, the design and fabrication for the variable stiffness robotic arm with compliant main structure and layer jamming mechanism has already been finished. Design and fabrication of the connector has also been finished to integrate several link modules into one robotic arm with multiple segments. The actuator located at the base of the arm has already been designed and tested. Finally, a stiffness test of one arm segment was conducted to verifying the load carrying capacity of the variable stiffness robotic arm, then the stiffness ratio of the layer jammed structure was calculated to analyze the stiffness improvement compared with unstiffened soft robot.
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