Soft fingers with variable stiffness based on jamming principle have the characteristics of simple structure, convenient control, and rapid response, but is usually requires vacuum pressure to squeeze the particles or layered materials to produce stiffness changes. A novel passive variable stiffness soft finger based on the passive layer jamming principle was presented in this paper. The inflation chamber of the soft finger was bent and squeezes the outer wall of the jamming chamber. The squeezing force causes the jamming layer unit inside the jamming chamber to squeeze each other to generate friction, which causes stiffness changed. Besides, aiming at the previous manufacturing methods of double-chamber soft fingers, this work also proposes an “integrated molding” casting process based on the lost-wax casting method, which can realize the manufacturing of soft fingers through on casting without splice. The experimental results shown that the soft finger with passive layer jamming also has excellent grasping performance under the condition of reducing additional equipment (vacuum system).
Abstract. Laser-driven plasma loader for shockless compression provides a new approach to study the rapid compression response of materials. But little information about the "plasma piston" can be obtained. The objective of the current study tried to map out a whole procedure of laser-driven plasma jet and shockless compression of solid materials. The experiment was performed using the Shenguang-II Nd: glass laser. Shock wave transmitting in reservoir, and Al/LiF interface velocity history both are recorded by a 2-channel line VISAR. Streaked and separated shade graph of plasma jet from rear surface of reservoir gave the 2D configuration and front speed (about 28 km/s to 60 km/s). A coaxial M-Z interferometer system is used for plasma density diagnostic. The density distribution is downward bulge near front of plasma jet, which is an important characteristic that determines shockless compression. Shockless compression of 30/40µ m Al step backed by 1mm LiF presented smooth pressure history up to 20GPa. The strain rate can reach 10 7∼8 /s.
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