arXiv:2607.15659 · v3

Harnessing Plastic Deformation for Continuous Passive Stability in Soft Grippers

首次提交 2026-07-17 14:10

版本更新 2026-11-02 13:32

雷达观测 2026-11-04 23:42

摘要

Soft robots offer compliance and adaptability for interacting with complex environments, but their low structural stiffness can compromise stability under dynamic disturbances. Here, we present a continuously stable structure through plastic deformation (CSSPD), a hybrid metal-elastomer architecture that enables passive shape retention without continuous energy input. By deliberately exploiting plastic deformation in a kirigami-patterned metal layer, CSSPD establishes new equilibrium configurations while increasing structural stiffness and resistance to dynamic disturbances. A theoretical model is developed to characterize the deformation and stability of the hybrid structure and guide the geometric design of the metal layer. We further introduce a bioinspired paw pad that provides top-side support for enhanced grasp stability and serves as an integrated sensing interface for rapid object acquisition. A telescopic soft pressing mechanism (TSPM) mechanically couples paw-pad motion with tendon actuation. Experiments demonstrate passive holding forces of up to 16 N without continuous energy input, comparable to pneumatic actuation at 0.3 MPa, and stable grasping under pulsed accelerations of up to 400 m/s^2 when combined with pneumatic actuation. Energy-free perching on tree branches further demonstrates the potential of the proposed composite architecture for stable and energy-efficient manipulation.

作者备注：27 pages, 8 figures