机器人
刚度
灵活性(工程)
适应性
计算机科学
可靠性(半导体)
变量(数学)
控制工程
工程类
模拟
功率(物理)
人工智能
结构工程
数学
物理
数学分析
统计
生物
量子力学
生态学
作者
Zhang Li,Xiaoyu Chu,Xinye Hu,Zhiyi Zhang,Nanpei Li,Junfeng Li
标识
DOI:10.1088/1361-665x/ad0753
摘要
Abstract Traditional robots with constant stiffness demonstrate reliable output power and positioning precision, which may conversely reduce their flexibility and adaptability or even incur greater damage for accidental collisions with the environment or humans. Here, we review state-of-the-art robots with a variable stiffness mechanism, which is a key design concept that is widely used to improve robot reliability and impart new functionalities. To determine the similarities and differences between variable stiffness methods, we discuss the existing principles for variable stiffness of both rigid and soft robots, such as coupled and uncouple structures, thermal stimuli and magneto-rheological approaches. We hope this paper can help readers better understand these methods with regard to interesting applications. In addition, we also outline challenges and perspectives, where a simpler structure, larger band and faster response of stiffness modulation are required for robots in the future.
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