Despite the exponentially expanding capabilities of robotic systems with the introduction of soft robotics, the lack of practical considerations in designing and integrating soft robotic components hinders the widespread application of newly developed technology in real life. This study investigates the development and performance evaluation of soft-rigid hybrid (SRH) robotic systems employing multilayered bellow-shaped soft pneumatic actuators (MBSPAs) to overcome the common challenges exclusively exhibited in soft robotics. Specifically, we introduce a unique SRH revolute joint enabled by a single thermoplastic polyurethane-MBSPA and rigid components to tackle the limitations of existing soft pneumatic actuators (SPAs), such as restricted payload capacity, vulnerability to external damages, and lack of resilience against outdoor environment. The proposed SRH system entails rigid components encapsulating to protect the MBSPA throughout the entirety of the desired range of motion, and demonstrates improved displacement efficiency, force output, and resilience against external loads. The rigid components also help to stabilize the axis of motion, fostering high durability and repeatable motion. We also extend this concept to a one-degree of freedom SRH prismatic joint. Finite element method modeling is used to estimate the general actuator performance, facilitating the design of MBSPA with limited material information and bypassing trial and error. The wider application of this research targets delicate object handling in industries such as agriculture, encouraging safe and efficient automated harvesting. The article includes thorough actuator performance characterization including displacement, frequency response, durability with life cycle testing up to 25,000 cycles, force output, stiffness, and power density. Performance comparisons with other SPA are provided. A proof of concept 3-point gripper enabled by the proposed SRH joints is capable of gripping objects of various sizes and shapes, with detailed workspace analysis and demonstration showing the gripper's versatility. The SRH system presented here lays a robust foundation for the ongoing advancement of soft robotic technology toward real-life applications, unveiling the potential for a future in which robots operate efficiently in the targeted applications, aiming to integrate seamlessly into workflows with human workers.

中文翻译：

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使用多层波纹管型软气动执行器的软刚混合旋转和棱柱关节：设计、表征及其作为软刚混合夹具的应用。


尽管随着软机器人技术的引入，机器人系统的能力呈指数级扩展，但在设计和集成软机器人组件时缺乏实际考虑阻碍了新开发技术在现实生活中的广泛应用。本研究调查了软刚性混合（SRH）机器人系统的开发和性能评估，该系统采用多层波纹管形软气动执行器（MBSPA）来克服软机器人技术中独有的常见挑战。具体来说，我们推出了一种独特的 SRH 旋转接头，由单一热塑性聚氨酯-MBSPA 和刚性组件实现，以解决现有软气动执行器 (SPA) 的局限性，例如有效负载能力有限、容易受到外部损坏以及缺乏户外弹性环境。所提出的 SRH 系统需要封装刚性组件，以在整个所需的运动范围内保护 MBSPA，并展示出改进的位移效率、力输出和抵抗外部负载的弹性。刚性部件还有助于稳定运动轴，从而提高耐用性和可重复运动。我们还将这一概念扩展到单自由度 SRH 棱柱关节。有限元方法建模用于估计通用执行器性能，便于在有限的材料信息下设计 MBSPA，并绕过试错。这项研究的更广泛应用针对农业等行业中的精细物体处理，鼓励安全高效的自动收获。 该文章包括全面的执行器性能表征，包括位移、频率响应、寿命周期测试高达 25,000 次的耐久性、力输出、刚度和功率密度。提供与其他 SPA 的性能比较。由所提出的 SRH 关节实现的概念验证 3 点夹持器能够夹持各种尺寸和形状的物体，并通过详细的工作空间分析和演示显示夹持器的多功能性。这里介绍的 SRH 系统为软机器人技术向现实生活应用的持续发展奠定了坚实的基础，揭示了机器人在目标应用中高效运行的未来潜力，旨在无缝集成到人类工作流程中。