环纵肌复合的气动仿蠕虫机器人研究
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摘要
设计了一种新型环纵肌复合的气动仿蠕虫软体机器人,详细介绍了其结构设计与试验过程。基于蚯蚓运动模型,分析了软体机器人直线运动及转弯运动原理。设计了各气腔充放气时间,确定了机器人运动周期,进行了软体机器人直线运动、转弯运动、爬坡运动和越障运动等试验研究。结果表明:该机器人最大爬行速度为18mm/s,一个周期内能转过37.8°的角度,最大爬坡角度为17.8°,能够跨越高6mm的障碍物。
It presents a new pneumatic-driven earthworm-like soft robot with circular-longitudinal compound muscles and shows the detail about the structure design and test process. Based on the earthworm movement model, it analyzes the principle of the linear and turning motion of the robot, designs the inflating and deflating time of muscle chambers to determine the period of the motion, carries out the experiment of linear and turning motion, climbing motion and barrier-crossing motion. The results show that the velocity of linear crawling is 18 mm/s, the robot can turn an angle of 37.8° in a cycle, the maximum climbing angle of the robot is 17.8° and the maximum height of crossing barrier is 6 mm.
It presents a new pneumatic-driven earthworm-like soft robot with circular-longitudinal compound muscles and shows the detail about the structure design and test process. Based on the earthworm movement model, it analyzes the principle of the linear and turning motion of the robot, designs the inflating and deflating time of muscle chambers to determine the period of the motion, carries out the experiment of linear and turning motion, climbing motion and barrier-crossing motion. The results show that the velocity of linear crawling is 18 mm/s, the robot can turn an angle of 37.8° in a cycle, the maximum climbing angle of the robot is 17.8° and the maximum height of crossing barrier is 6 mm.
引文
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[5] SHEPHERD R F,ILIEVSKI F,CHOI W,et al.Multigait soft robot[J].Proceedings of the National Academy of Sciences,2011,108(51):20400-20403.
[6] 毛世鑫.辐射对称仿生柔体机器人协同推进机理及实现技术[D].合肥:中国科学技术大学,2014.
[7] WANG W,LEE J Y,RODRIGUE H,et al.Locomotion of inchworm-inspired robot made of smart soft composite (SSC)[J].Bioinspiration & Biomimetics,2014(9):46006.
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