Soft actuators made of soft materials can exhibit compliant behavior but tend to generate large vibrations in dynamic environments because of poor damping performance. Here, we integrate the particle-jamming technology with three-dimensional (3D)-printing technology to enhance the damping performance, with a goal of establishing a lightweight and reliable approach of damping for the soft actuators. An analytical model for energy dissipation is presented, which can reveal the dependence of the damping performance on various parameters including vacuum pressure, particle chamber dimensions, and particle properties. Then, 3D-printed particles with different sizes and different surface topographies are fabricated. The theoretical analysis and experimental results are combined to investigate the dependence of the particle chamber’s damping effect on specific parameters such as vacuum pressure, the dimensions of the particle chamber, and the diameter and surface topography of the part...

中文翻译：

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具有3D打印粒子的软执行器的粒子阻塞结构的阻尼效果

由软材料制成的软致动器可以表现出顺应性，但由于阻尼性能差，在动态环境中往往会产生较大的振动。在这里，我们将颗粒干扰技术与三维（3D）打印技术相集成，以增强阻尼性能，目的是为软执行器建立一种轻巧可靠的阻尼方法。提出了一种能量耗散的分析模型，该模型可以揭示阻尼性能对各种参数（包括真空压力，颗粒室尺寸和颗粒性质）的依赖性。然后，制造具有不同尺寸和不同表面形貌的3D打印粒子。