Fig. 1: The concept of a manipulator based on soft architectured structures. | npj Robotics

Fig. 1: The concept of a manipulator based on soft architectured structures.

From: Trimmed helicoids: an architectured soft structure yielding soft robots with high precision, large workspace, and compliant interactions

Fig. 1

a The design of the trimmed-helicoid (TH) structure. T is the thickness of the helicoid, W is the distance from the trimmed edge to the outer radius R, Nhelix is the helicoid number in one direction, and α is the helical angle of the outer edge of the helicoid. b The regulable stiffness ratio λstiff = Kaxial R2/Kbend of the TH structures by varying the trimming area. Kaxial and Kbend are the axial and bending stiffness, respectively. c The high performance of the trimmed-helicoid manipulator on open-loop precision, workspace, and compliance.

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