气动软体爬行机器人驱动方式的分析与实验
|
摘要
为研究基于蠕动原理的仿生爬行机器人运动,以气动弯曲驱动器和伸长驱动器为机器人主体,设计了一种软体爬行机器人。针对爬行机器人在平面及管道中的运动,根据爬行机器人的力学特性和运动过程中摩擦力与驱动力之间的关系,分析了爬行机器人实现爬行运动的条件,提出了爬行机器人驱动方式。通过实验,验证了所提出的驱动方式能够实现软体爬行机器人的移动,为今后软体爬行机器人的研究及应用提供了基础。
In order to study movement of biomimetic crawling robot based on peristalsis principle,a soft crawling robot with pneumatic bending actuators and extending actuators as the robot body is designed. According to movements of crawling robot on the plane and in the pipeline,and based on the characteristics of crawling robot and the relation between friction and driving force during movement,the conditions for crawling robot to realize peristaltic movement are analyzed, and the actuating methods for crawling robot are proposed. Through experiments,the proposed actuating methods to realize movement of crawling robot are verified,which provide a foundation for research and application of soft crawling robot in the future.
In order to study movement of biomimetic crawling robot based on peristalsis principle,a soft crawling robot with pneumatic bending actuators and extending actuators as the robot body is designed. According to movements of crawling robot on the plane and in the pipeline,and based on the characteristics of crawling robot and the relation between friction and driving force during movement,the conditions for crawling robot to realize peristaltic movement are analyzed, and the actuating methods for crawling robot are proposed. Through experiments,the proposed actuating methods to realize movement of crawling robot are verified,which provide a foundation for research and application of soft crawling robot in the future.
引文
[1]HINES L,PETERSEN K,LUM G Z,et al.Soft Actuators for Small-scale Robotics[J].Advanced Materials,2016,29(13):1521-4095.
[2]LEE C,KIM M,KIM Y J,et al.Soft Robot Review[J].International Journal of Control,Automation and Systems,2017,15(1):3-15.
[3]曹玉君,尚建忠,梁科山,等.软体机器人研究现状综述[J].机械工程学报,2012,48(3):25-33.CAO Yujun,SHANG Jianzhong,LIANG Keshan,et al.Review of Soft-bodied Robots[J].Journal of Mechanical Engineering,2012,48(3):25-33.
[4]SHEPHERD R F,ILIEVSKI F,CHOI W,et al.Multigait Soft Robot[J].Proceedings of the National Academy of Sciences(PNAS),2011,108(51):20400-20403.
[5]WEHNER M,TRUBY R L,FITZGERALD D J,et al.An Integrated Design and Fabrication Strategy for Entirely Soft,Autonomous Robots[J].Nature,2016,(536):451-455.
[6]UMEDACHI T,VIKAS V,TRIMMER B A.Softworms:the Design and Control of Non-pneumatic,3D-printed,Defor-mable Robots[J].Bioinspiration&Biomimetics,2016,11(2):025001.
[7]LIN H T,LEISK G G,TRIMMER B.Go QBot:A Caterpillar Inspired Soft-bodied Rolling Robot[J].Bioinspiration&Biomimetics,2011,6(2):026007.
[8]SEOK S,ONAL C D,CHO K J,et al.Meshworm:APeristaltic Soft Robot with Antagonistic Nickel Titanium Coil Actuators[J].IEEE/ASME Transactions on Mechatronics,2013,18(5):1485-1497.
[9]MENCIASSI A,GORINI S,PERNORIO G,et al.A SMAActuated Artificial Earthworm[C]//IEEE International Conference on Robotics and Automation.USA:New Orleans,2004:3282-3287.
[10]RUS D,TOLLEY M T.Design,Fabrication and Control of Soft Robots[J].Nature,2015,(521):467-475.
[11]ALEXANDER R M.Locomotion of Animals[M].London:Blackie&Son Limited,1982:114-125.
[12]TRIMMER B A,LIN H.Bone-free:Soft Mechanics for Adaptive Locomotion[J].Integrative and Comparative Biology,2014,54(6):1122-1135.
[2]LEE C,KIM M,KIM Y J,et al.Soft Robot Review[J].International Journal of Control,Automation and Systems,2017,15(1):3-15.
[3]曹玉君,尚建忠,梁科山,等.软体机器人研究现状综述[J].机械工程学报,2012,48(3):25-33.CAO Yujun,SHANG Jianzhong,LIANG Keshan,et al.Review of Soft-bodied Robots[J].Journal of Mechanical Engineering,2012,48(3):25-33.
[4]SHEPHERD R F,ILIEVSKI F,CHOI W,et al.Multigait Soft Robot[J].Proceedings of the National Academy of Sciences(PNAS),2011,108(51):20400-20403.
[5]WEHNER M,TRUBY R L,FITZGERALD D J,et al.An Integrated Design and Fabrication Strategy for Entirely Soft,Autonomous Robots[J].Nature,2016,(536):451-455.
[6]UMEDACHI T,VIKAS V,TRIMMER B A.Softworms:the Design and Control of Non-pneumatic,3D-printed,Defor-mable Robots[J].Bioinspiration&Biomimetics,2016,11(2):025001.
[7]LIN H T,LEISK G G,TRIMMER B.Go QBot:A Caterpillar Inspired Soft-bodied Rolling Robot[J].Bioinspiration&Biomimetics,2011,6(2):026007.
[8]SEOK S,ONAL C D,CHO K J,et al.Meshworm:APeristaltic Soft Robot with Antagonistic Nickel Titanium Coil Actuators[J].IEEE/ASME Transactions on Mechatronics,2013,18(5):1485-1497.
[9]MENCIASSI A,GORINI S,PERNORIO G,et al.A SMAActuated Artificial Earthworm[C]//IEEE International Conference on Robotics and Automation.USA:New Orleans,2004:3282-3287.
[10]RUS D,TOLLEY M T.Design,Fabrication and Control of Soft Robots[J].Nature,2015,(521):467-475.
[11]ALEXANDER R M.Locomotion of Animals[M].London:Blackie&Son Limited,1982:114-125.
[12]TRIMMER B A,LIN H.Bone-free:Soft Mechanics for Adaptive Locomotion[J].Integrative and Comparative Biology,2014,54(6):1122-1135.