摘要：Actuators with variable stiffness have vast potential in the field of compliant robotics. Morphological shape changes in the actuators are possible, while they retain their structural strength. They can shift between a rigid load-carrying state and a soft flexible state in a short transition period. This work presents a hydraulically actuated soft actuator fabricated by a fully 3D printing of shape memory polymer (SMP). The actuator shows a stiffness of 519 mN/mm at 20 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>C and 45 mN/mm at 50 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>C at the same pressure (0.2 MPa). This actuator demonstrates a high stiffness variation of 474 mN/mm (10 times the baseline stiffness) for a temperature change of 30 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>C and a large variation (≈1150%) in average stiffness. A combined variation of both temperature (20–50 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>C) and pressure (0–0.2 MPa) displays a stiffness variation of 501 mN/mm. The pressure variation (0–0.2 MPa) in the actuator also shows a large variation in the output force (1.46 N) at 50 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>C compared to the output force variation (0.16 N) at 20 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>C. The pressure variation is further utilized for bending the actuator. Varying the pressure (0–0.2 MPa) at 20 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>C displayed no bending in the actuator. In contrast, the same variation of pressure at 50 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>C displayed a bending angle of 80<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>. A combined variation of both temperature (20–50 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>C) and pressure (0–0.2 MPa) shows the ability to bend 80<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>. At the same time, an additional weight (300 g) suspended to the actuator could increase its bending capability to 160<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mrow></mrow><mo>∘</mo></msup></semantics></math></inline-formula>. We demonstrated a soft robotic gripper varying its stiffness to carry various objects.
