Core Viewpoint - The article discusses the innovative development of a soft robotic exoskeleton inspired by nature, specifically the design principles of certain marine creatures, which combines rigidity and flexibility to enhance the capabilities of soft robots [3][18]. Design and Structural Features - The core innovation of the origami exoskeleton lies in its intricate modular design, consisting of rigid frames at both ends connected by flexible thin steel panels [4]. - The trapezoidal geometry of the panels and their paired arrangement allow for a dual-stable behavior, enabling the structure to fold under compression and expand under tension, maintaining stability in both extreme positions [5]. - This structure exhibits highly anisotropic stiffness characteristics, providing high resistance to external loads in the in-plane direction while allowing significant deformation in the out-of-plane direction [7]. Mechanical Performance and Integration - The research team employed theoretical analysis, numerical simulation, and physical experiments to evaluate the mechanical performance of the origami modules [8]. - A single module can withstand an axial pressure of up to 6.24 kg while weighing only 30 grams, achieving a load-to-weight ratio of 208:1 [12]. - The introduction of Layered Elastic Twist (LET) joints further enhanced the load capacity in bent states by 23%, reaching 2.03 kg [12]. - The integration of the origami exoskeleton with soft actuators was achieved by wrapping it around the soft arm, enhancing structural stiffness and load-bearing capacity without altering the internal design of the actuators [14]. Application Demonstrations - The research team validated the application of the exoskeleton in two main areas: enhancing robotic arms on unmanned ground vehicles (UGVs) and integrating with unmanned aerial vehicles (UAVs) [15]. - In UGV tests, a mechanical arm demonstrated the ability to navigate complex terrains and perform precise tasks, showcasing the advantages of extended reach and multi-directional bending [15]. - The UAV platform successfully executed challenging tasks, including a sequence of actions requiring different stiffness characteristics, demonstrating the potential for flexible control in aerial applications [16][17]. Conclusion and Future Prospects - This research presents an innovative and engineering-feasible solution to the stiffness-deformation dilemma in soft robotics, enabling soft actuators to achieve high stiffness for load-bearing while allowing for rapid shape changes when needed [18].
为软体机器人穿上“铠甲”!受虾类启发,中国团队造出刚柔并济的机械外骨骼
机器人大讲堂·2025-08-23 04:07