Open AccessDesign methodology for the development of variable stiffness devices based on layer jamming transition
Author(s) -
Luca Arleo,
Giorgio Bondì,
Stefano Albini,
Martina Maselli,
Matteo Cianchetti
Publication year - 2021
Publication title -
engineering research express
Language(s) - English
Resource type - Journals
ISSN - 2631-8695
DOI - 10.1088/2631-8695/ac1fc6
Subject(s) - jamming , stiffness , computer science , variable (mathematics) , process (computing) , usable , matlab , design methods , layer (electronics) , engineering design process , design process , control engineering , simulation , artificial intelligence , engineering , mechanical engineering , work in process , materials science , structural engineering , nanotechnology , mathematics , mathematical analysis , physics , operations management , world wide web , thermodynamics , operating system
Variable stiffness mechanisms as Jamming Transition draw huge attention recently in Soft Robotics. This paper proposes a comprehensive design methodology for developing variable stiffness devices based on layer jamming. Starting from pre-existing modelling, we highlight the design parameters that should be considered, extracting them from literature and our direct experience with the phenomenon. Then we validated the methodology applying the design process to previous layer jamming cases presented in literature. The comparison between the results obtained from our methodology and those presented in the analyzed previous works highlights a good predictive capability, demonstrating that this methodology can be used as a valid tool to design variable stiffness devices based on layer jamming transition. Finally, in order to provide the scientific community with an easily usable tool to design variable stiffness structures based on layer jamming transition, we have elaborated a Matlab script that guides the user through the main design parameters implementing the proposed methodology in an interactive process.