Abstract This article introduces a parallel-guided compliant mechanism, which can achieve a high stiffness ratio (maximum over minimum) of 75 times through pneumatic actuated layer jamming. The compliant mechanism is composed of two flexible beams sandwiched with thin plastic friction layers. With a novel beam cross-section, the beams have large thickness, but still retain high flexibility. The effect of layer jamming is augmented by this large thickness due to the increased leverage of friction force. The beams in parallel-guided configuration have higher vertical and torsional stability compared to a single beam setup. The functionalities of the compliant mechanism have been validated experimentally: stiffness is measured as a function of the applied vacuum pressure. This paper describes the design concept, FEA validation of the design concept, prototyping, experiment results, analytical model, and analysis of vertical and torsional stability. The proposed concept of the compliant mechanism provides a potential solution for design of variable stiffness robotic links for addressing safety concerns in physical human robot interaction. The analytical model for identifying critical design parameters for maximum stiffness-variation effect provides a guideline for high stiffness-variation design on similar structures.

中文翻译：

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一种基于层干扰的变刚度平行导向柔顺机构

摘要 本文介绍了一种平行导向柔顺机构，通过气动致动层卡阻，可实现75倍的高刚度比（最大值大于最小值）。柔顺机构由夹有薄塑料摩擦层的两个柔性梁组成。采用新颖的横梁横截面，横梁具有较大的厚度，但仍保持较高的柔韧性。由于增加了摩擦力的杠杆作用，这种大厚度增加了层堵塞的影响。与单梁设置相比，平行引导配置的梁具有更高的垂直和扭转稳定性。柔顺机构的功能已通过实验验证：刚度作为所施加真空压力的函数进行测量。本文介绍了设计理念，设计理念的FEA验证，原型、实验结果、分析模型以及垂直和扭转稳定性分析。提出的柔顺机构概念为可变刚度机器人连杆的设计提供了一种潜在的解决方案，以解决物理人机交互中的安全问题。用于识别最大刚度变化效应的关键设计参数的分析模型为类似结构的高刚度变化设计提供了指导。