爬行
机器人
执行机构
软机器人
机械工程
刚度
机器人学
气动执行机构
Lift(数据挖掘)
工程类
材料科学
计算机科学
模拟
结构工程
人工智能
医学
解剖
数据挖掘
作者
Tianhao Du,Lechen Sun,Jingjing Wan
出处
期刊:Biomimetics
[MDPI AG]
日期:2022-11-20
卷期号:7 (4): 205-205
被引量:7
标识
DOI:10.3390/biomimetics7040205
摘要
Soft robotics is one of the most popular areas in the field of robotics due to advancements in bionic technology, novel materials, and additive manufacturing. Existing soft crawling robots with specific structures have a single locomotion mode and cannot complete turning. Moreover, some silicone-based robots lack stiffness, leading to unstable movements especially when climbing walls, and have limited environmental adaptability. Therefore, in this study, a novel crawling soft robot with a multi-movement mode and high environmental adaptability is proposed. As the main structure of the robot, pneumatic single-channeled and double-channeled actuators are designed, inspired by the worm’s somite expansion and contraction. Model-based methods are employed to evaluate and analyze the characteristics of the actuators. By the application of selective laser sintering technology and thermoplastic polyurethane (TPU) material, the fabricated actuators with an auxetic cavity structure are able to maintain a certain stiffness. Via the coordination between the actuators and the suckers, two locomotion modes—straight-line and turning—are realized. In the testing, the speed of straight-line crawling was 7.15 mm/s, and the single maximum turning angle was 28.8 degrees. The testing verified that the robot could realize crawling on flat ground, slopes, and smooth vertical walls with a certain stability and equipment-carrying capacity. This research could lay the foundation for subsequent applications, including large tank interior inspections, civil aviation fuselage and wing inspections, and wall-cleaning in high-rise buildings.
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