颗粒阻塞软体驱动器承载特性研究

颗粒阻塞效应广泛用于提高软体驱动器的承载能力，为了深入研究阻塞态驱动器的承载规律，对颗粒阻塞弯曲软体驱动器的受载变形规律进行实验测试和理论分析。驱动器的受载变形分为弹性变形和塑性变形两个阶段，塑性阶段具有近似线性的应变强化现象，且流动阻力波动较大。增大驱动器内外压差后，弹性系数、屈服力及应变强化程度均显著提升。屈服力和应变强化程度对驱动器承载性能的影响更大，仅考虑颗粒阻塞的变刚度效应是不全面的。同时基于石膏粉末3DP打印技术提出一种新的硅胶型腔消失模制备方法，可提高效率和精度。

Bearing characteristics of soft actuator with granular jamming

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.