Harnessing Plastic Deformation for Continuous Passive Stability in Soft Grippers
Overview
This research introduces a continuously stable structure through plastic deformation (CSSPD), a hybrid metal-elastomer architecture that enables passive shape retention without continuous energy input. By exploiting plastic deformation in a kirigami-patterned metal layer, the design increases structural stiffness and resistance to dynamic disturbances. A theoretical model characterizes the deformation and stability, while a bioinspired paw pad provides top-side support and integrated sensing. Experiments demonstrate passive holding forces of up to 16 N without continuous energy input, comparable to pneumatic actuation at 0.3 MPa, and stable grasping under pulsed accelerations of up to 400 m/s^2. The system also achieves energy-free perching on tree branches.
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Reported quantity · passive holding forces: 16 other · Basis not reported
“ides top-side support for enhanced grasp stability and serves as an integrated sensing interface for rapid object acquisition. A telescopic soft pressing mechanism (TSPM) mechanically couples paw-pad motion with tendon actuation. Experiments demonstrate passive holding forces of up to 16 N without continuous energy input, comparable to pneumatic actuation at 0.3 MPa, and stable grasping under pulsed accelerations of”
Exact source · revision 1Source owner not reported
Reported quantity · pneumatic actuation pressure: 0.3 other · Basis not reported
“ides top-side support for enhanced grasp stability and serves as an integrated sensing interface for rapid object acquisition. A telescopic soft pressing mechanism (TSPM) mechanically couples paw-pad motion with tendon actuation. Experiments demonstrate passive holding forces of up to 16 N without continuous energy input, comparable to pneumatic actuation at 0.3 MPa, and stable grasping under pulsed accelerations of”
Exact source · revision 1Source owner not reported
Reported quantity · pulsed accelerations: 400 other · Basis not reported
“up to 400 m/s^2 when combined with pneumatic actuation. Energy-free perching on tree branches further demonstrates the potential of the proposed composite architecture for stable and energy-efficient manipulation.”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalHarnessing Plastic Deformation for Continuous Passive Stability in Soft Grippers
This research introduces a continuously stable structure through plastic deformation (CSSPD), a hybrid metal-elastomer architecture that enables passive shape retention without continuous energy input. By exploiting plastic deformation in a kirigami-patterned metal layer, the design increases structural stiffness and resistance to dynamic disturbances. A theoretical model characterizes the deformation and stability, while a bioinspired paw pad provides top-side support and integrated sensing. Experiments demonstrate passive holding forces of up to 16 N without continuous energy input, comparable to pneumatic actuation at 0.3 MPa, and stable grasping under pulsed accelerations of up to 400 m/s^2. The system also achieves energy-free perching on tree branches.
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