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A Modeling Framework for Jamming Structures

机译：干扰结构的建模框架

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Jamming is a structural phenomenon that provides tunable mechanical behavior. A jamming structure typically consists of a collection of elements with low effective stiffness and damping. When a pressure gradient, such as vacuum, is applied, kinematic and frictional coupling increase, resulting in dramatically altered mechanical properties. Engineers have used jamming to build devices from tunable-stiffness grippers to tunable-damping landing gear. This study presents a rigorous framework that systematically guides the design of jamming structures for target applications. The force-deflection behavior of major types of jamming structures (i.e., grain, fiber, and layer) in fundamental loading conditions (e.g., tension, shear, and bending) is compared. High-performing pairs (e.g., grains in compression, layers in shear, and bending) are identified. Parameters that go into designing, fabricating, and actuating a jamming structure (e.g., scale, material, geometry, and actuator) are described, along with their effects on functional metrics. Two key methods to expand on the design space of jamming structures are introduced: using structural design to achieve effective tunable-impedance behavior in specific loading directions, and creating hybrid jamming structures to utilize the advantages of different types of jamming. Collectively, this study elaborates and extends the jamming design space, providing a conceptual modeling framework for jamming-based structures.
机译：干扰是一种结构的现象，提供了可调的机械行为。的干扰结构通常由具有低有效刚度和阻尼元件的集合。当一个压力梯度，如真空被施加，运动学和摩擦接合增加，导致显着地改变机械性能。工程师们从可调刚性夹持器使用干扰来构建的设备可调谐阻尼起落架。这项研究提出了严格的框架，系统地指导干扰结构为目标的应用设计。主要类型的在基本负载条件干扰结构（即，颗粒，纤维和层）的力 - 偏转特性（例如，拉伸，剪切，弯曲）进行比较。高性能对（例如，在压缩颗粒，层中的剪切和弯曲）被识别。该进入设计，制造，和致动的干扰结构参数（例如，比例，材料，几何形状，和致动器）中有所描述，与他们的功能性度量效果一起。被引入到上干扰结构的设计空间扩大两个关键的方法：使用的结构设计以实现特定加载方向有效可调阻抗的行为，以及创建混合干扰结构来利用不同类型的干扰的优点。总的来说，本研究阐述和延伸干扰的设计空间，从而提供用于基于干扰结构的概念建模框架。

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