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A continuum-based model for a layer jamming beam

delete2025-11-18
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OA
AI
S
Shuai Zhang
J
Jiantao Yao *
W
Wumian Zhao
C
Chunjie Wei
DOI：10.5194/ms-16-821-2025delete
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摘要

摘要

En 中文
层压 jamming 结构（LJSs）被广泛应用于协作机器人中作为变刚度组件，以确保安全的人机交互。然而，现有的解析模型往往难以充分描述具有多层结构的 LJSs 的力学行为，特别是在捕捉详细的应力分布和变形方面。本文介绍了一种基于连续介质的层压 jamming 模型（CLJM），该模型在假设无限多层薄层的情况下将 LJS 视为连续介质。CLJM 全面分析了不同力学状态（完全 jamming、半滑动和完全滑动）下的内部应力分布（包括剪切应力和正应力）以及变形。该模型通过有限元分析（FEA）和实验测试进行验证，结果表明在变形响应和应力分布方面均表现出高度一致性。结果表明，CLJM 为变刚度应用中的 LJSs 设计提供了一种有效且准确的理论工具。
Keyword:
DESIGN
CAPABILITY
MECHANISM
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期刊

Mechanical Sciences 封面图
Mechanical Sciences
IF:
1.5
论文数:
75
被引数:
731

机构

Y
Yanshan University
学者数:
1.7W
论文数: 1.1W
被引数: 1.3W
引用论文

引用论文

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