Inspired by the physiological structure of the hand capable of realizing the continuous change in finger stiffness when grasping objects of different masses, a self-locking soft continuum robot with a large variable-stiffness range based on particle jamming and fibre jamming is proposed in this paper to meet the requirements of it in practical application. In this paper, a variable stiffness range is derived due to the good fluidity and rigidity of the spherical particles and the low elasticity and high toughness of the fibres. Then, an analysis model is established to deduce its self-locking condition, and the deflection angle of self-locking under the influence of external force is about 0.17 rad. The maximum stiffness of the experimental prototype can reach 1223.58 N m-1 due to the limitation of the experimental materials, despite the fact that the theoretical stiffness can be increased infinitely after self-locking. To explain the adaptability of the robot, the adaptive conditions of the soft continuum robot with variable stiffness are deduced. A new evaluation index, the adaptive intensity of the soft continuum robot, is introduced and the adaptability experiments are carried out. In adaptability experiments, the maximum bending angle of the continuum robot reaches 108°. Finally, the adaptability of the soft continuum robot to different geometries is discussed.

中文翻译：

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一种软连续体机器人，具有较大的可变刚度范围（基于干扰）。

鉴于手的生理结构能够在抓取不同质量的物体时实现手指刚度的连续变化，本文提出了一种基于粒子干扰和纤维干扰的，具有较大可变刚度范围的自锁式软连续体机器人以满足其在实际应用中的要求。在本文中，由于球形颗粒的良好流动性和刚度以及纤维的低弹性和高韧性，得出了可变的刚度范围。然后，建立分析模型，推导其自锁状态，在外力作用下自锁的偏转角约为0.17rad。由于实验材料的限制，实验原型的最大刚度可以达到1223.58 N m-1，尽管自锁后理论刚度可以无限增大。为了解释机器人的适应性，推导了具有可变刚度的软连续体机器人的适应条件。介绍了一种新的评价指标，即软连续体机器人的适应强度，并进行了适应性实验。在适应性实验中，连续机器人的最大弯曲角度达到108°。最后，讨论了软连续体机器人对不同几何形状的适应性。介绍了适应性实验。在适应性实验中，连续机器人的最大弯曲角度达到108°。最后，讨论了软连续体机器人对不同几何形状的适应性。介绍了适应性实验。在适应性实验中，连续机器人的最大弯曲角度达到108°。最后，讨论了软连续体机器人对不同几何形状的适应性。