Soft gripping provides the potential for high performance in challenging tasks through morphological computing; however, design explorations are limited by a combination of a difficulty in generating useful models and use of laborious fabrication techniques. We focus on a class of grippers based on granular jamming that are particularly difficult to model and introduce a “one shot” technique that exploits multimaterial three-dimensional (3D) printing to create entire grippers, including membrane and grains, in a single print run. This technique fully supports the de facto physical generate-and-test methodology used for this class of grippers, as entire design iterations can be fitted onto a single print bed and fabricated from Computer-Aided Design (CAD) files in a matter of hours. Initial results demonstrate the approach by rapidly prototyping in materio solutions for two challenging problems in unconventional design spaces; a twisting gripper that uses programmed deformations to reliably pick a coin, and a multifunctional legged robot paw that offers the ability for compliant locomotion over rough terrains, as well as being able to pick objects in cluttered natural environments. The technique also allows us to easily characterize the design space of multimaterial printed jamming grippers and provide some useful design rules. The simplicity of our technique encourages and facilitates creativity and innovation. As such, we see our approach as an enabling tool to make informed principled forays into unconventional design spaces and support the creation of a new breed of novel soft actuators.

中文翻译：

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One-Shot 3D 打印多材料软机器人干扰夹持器

软抓取通过形态计算为具有挑战性的任务提供了高性能的潜力；然而，由于难以生成有用的模型和使用费力的制造技术，设计探索受到限制。我们专注于基于颗粒干扰的一类特别难以建模的夹具，并引入了一种“一次性”技术，该技术利用多材料三维 (3D) 打印在单次打印运行中创建整个夹具，包括膜和颗粒. 该技术完全支持用于此类夹具的事实上的物理生成和测试方法，因为整个设计迭代可以安装到单个打印床上并在数小时内从计算机辅助设计 (CAD) 文件中制造出来。初步结果通过快速原型制作证明了该方法在非常规设计空间中为两个具有挑战性的问题提供材料解决方案；一个使用程序变形来可靠地捡起硬币的扭曲抓手，以及一个多功能的有腿机器人爪子，它能够在崎岖的地形上灵活移动，并能够在杂乱的自然环境中捡起物体。该技术还使我们能够轻松地表征多材料打印干扰夹具的设计空间，并提供一些有用的设计规则。我们技术的简单性鼓励并促进创造力和创新。因此，我们将我们的方法视为一种有利的工具，可以在有原则的基础上涉足非常规的设计空间，并支持创建一种新型的新型软执行器。