.png){kind=icon}
Return
A continuum-based model for a layer jamming beam
.png){kind=icon}
OA
AI
DOI：10.5194/ms-16-821-2025.png)
.png){kind=icon}
.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
Layer jamming structures (LJSs) are widely used as variable-stiffness components in collaborative robots to ensure safe human-robot interaction. However, existing analytical models often fail to adequately describe the mechanical behavior of LJSs with a large number of layers, particularly in capturing detailed stress distributions and deformations. This paper introduces a continuum-based layer jamming model (CLJM), which treats the LJS as a continuous medium under the assumption of infinitely many thin layers. The CLJM comprehensively analyzes internal stress distribution - including both shear and normal stresses - and deformation across different mechanical states (full jamming, half slipping, and full slipping). The model is validated through finite-element analysis (FEA) and experimental tests, showing strong agreement in both deformation response and stress profiles. The results demonstrate that the CLJM provides an effective and accurate theoretical tool for designing LJSs in variable-stiffness applications.
Keywords:
DESIGN
CAPABILITY
MECHANISM
AI Summary
Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.
Journal
IF:
1.5
Papers:
76
Citations:
731
Organization
Cited Papers
ShareSaveShareSaveShareSaveShareSave
ShareSaveA Fully Multi-Material Three-Dimensional Printed Soft Gripper with Variable Stiffness for Robust Grasping.png)
SOFT ROBOTICS
SOFT ROBOTICSIF6.1
PREAI
ShareSaveShareSave
View more