Shape Change Through Programmable Stiffness

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• 关键词：Multi ; functional materials ; Embedded computation ; Variable stiffness
• 刊名：Springer Tracts in Advanced Robotics
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：109
• 期：1
• 页码：893-907
• 全文大小：753 KB
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• 作者单位：Michael McEvoy (6)
  Nikolaus Correll (6)
  
  6. Department of Computer Science, University of Colorado at Boulder, Boulder, 80309, USA
  
• 丛书名：Experimental Robotics
• ISBN：978-3-319-23778-7
• 刊物类别：Engineering
• 刊物主题：Automation and Robotics
  Control Engineering
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1610-742X

文摘

We present a composite material with embedded sensing and actuation that can perform permanent shape changes by temporarily varying its stiffness and applying an external moment. Varying stiffness is a complementary approach to actuator-chain based approaches that can be accomplished using a large variety of means ranging from heat, electric field or vacuum. A polycaprolactone (PCL) bar provides stiffness at room temperature. Heating elements and thermistors are distributed along the bar so that local regions can be tuned to a specific temperature/stiffness. Applying an external moment using two tendon actuators then lets the material snap into a desired shape. We describe the composite structure, the principles behind shape change using variable stiffness control, and forward and inverse kinematics of the system. We present experimental results using a 5-element bar that can assume different global conformations using two simple actuators.