关键词: 颗粒阻塞, 软体驱动器, 承载特性, 消失模, 屈服

Abstract: The granular jamming effect has been widely used to improve the bearing capacity of soft actuators,but there is still a lack of in-depth research on the bearing law of actuators with granular jamming.Bending soft actuator with granular jamming was taken as the object,and its deformation law under load was tested and analyzed theoretically,which could provide the basis for the design of soft actuator with granular jamming.The deformation of the actuator under load was divided into two stages:elastic deformation and plastic deformation.In the plastic stage,the strain strengthening phenomenon was nearly linear,and the flow resistance fluctuated greatly.With increasing the pressure difference between inside and outside the actuator,the elastic coefficient,yield force and strain strengthening degree were significantly improved.The yield force and strain strengthening degree had a greater influence on the bearing performance of the actuator,so it was not comprehensive to consider the variable stiffness effect of granular jamming only.At the same time,based on the 3DP printing technology of gypsum powder,a new preparation method of silicone cavity lost foam casting was proposed,which could improve the efficiency and precision.

Key words: granular jamming, soft actuator, bearing characteristics, lost foam casting, yield