Soft actuators, as an important part of soft robotics, have attracted significant attention due to their inherent compliance, flexibility and safety. However, low capacity in force and load limits their applications. Prestored elastic energy can improve the capacity in output force and load of soft actuators. This work introduces a soft pneumatic bistable reinforced actuator inspired by the Venus Flytrap’s bistable mechanism that allows for the storage of elastic energy. The proposed actuator consists of two separated 3D-printed actuation chambers that are attached to a central prestressed steel shell to achieve bistability. The pressure triggering the pneumatic bistable reinforced actuator from one stable state to the other is derived and validated by experiments. Further experimental comparisons between the proposed actuator and a dual chamber actuator show that the proposed design significantly improves the block tip force, load capacity and stiffness. The pneumatic bistable ...

中文翻译：

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一种受维纳斯捕蝇草生物启发的软气动双稳态增强执行器，具有增强的抓握能力。

软执行器作为软机器人的重要组成部分，因其固有的顺应性、灵活性和安全性而备受关注。然而，力和负载的低容量限制了它们的应用。预存的弹性能可以提高软执行器的输出力和负载能力。这项工作引入了一种软气动双稳态增强执行器，其灵感来自维纳斯捕蝇草的双稳态机制，可以存储弹性能量。所提出的致动器由两个独立的 3D 打印致动室组成，它们连接到中央预应力钢壳上以实现双稳态。通过实验推导出并验证了触发气动双稳态增强执行器从一种稳定状态到另一种稳定状态的压力。所提出的致动器和双腔致动器之间的进一步实验比较表明，所提出的设计显着提高了块体尖端力、负载能力和刚度。气动双稳态...