张拉整体
刚度
稳健性(进化)
灵活性(工程)
结构工程
计算机科学
抗弯刚度
脊柱(分子生物学)
工程类
控制理论(社会学)
人工智能
控制(管理)
生物
数学
生物信息学
基因
统计
生物化学
作者
Davide Zappetti,Roc Arandes,Enrico Ajanic,Dario Floreano
标识
DOI:10.1088/1361-665x/ab87e0
摘要
Abstract Vertebrates, including amphibians, reptiles, birds, and mammals, with their ability to change the stiffness of the spine to increase load-bearing capability or flexibility, have inspired roboticists to develop artificial variable-stiffness spines. However, unlike their natural counterparts, current robotic spine systems do not display robustness or cannot adjust their stiffness according to their task. In this paper, we describe a novel variable-stiffness tensegrity spine, which uses an active mechanism to add or remove a ball-joint constrain among the vertebrae, allowing transition among different stiffness modes: soft mode, global stiff mode, and directional stiff mode. We validate the variable-stiffness properties of the tensegrity spine in experimental bending tests and compare results to a model. Finally, we demonstrate the tensegrity spine system as a continuous variable-stiffness manipulator and highlight its advantages over current systems.
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