Analysis on nonlinear turning motion of multi-spherical soft robots
Analysis on nonlinear turning motion of multi-spherical soft robots
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DOI：
10.1007/s11071-016-3282-3
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发表时间：
2016-12
影响因子：
5.6
通讯作者：
Y. Fei;Wu Pang
中科院分区：
文献类型：
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作者：
Y. Fei;Wu Pang
构建了一种由五个可变形球形单元、两个摩擦足、电磁阀和控制系统组成的模块化多球软体机器人。根据球泡的收缩和膨胀作用，可以改变每个球泡的大小和形状。通过两只摩擦足轮流贴地，实现机器人的前进、转弯和避障。本文建立了在不同初始半径下压力P与充气半径的非线性关系，得到了充气或放气的速度。提出了六个充气和放气步骤来完成转弯运动。根据膨胀半径r与原胞半径的几何关系，描述了控制球形胞中心位置x，y，z的非线性旋转过程。最后，仿真和实验的五个球形细胞显示模拟车削过程。实验结果表明，该机器人在一个周期内具有最大转弯能力.
A modular multi-spherical soft robot, which consists of five deformable spherical cells, two friction feet, the electromagnetic valves and the control systems, is constructed. According to the deflating action and the inflating action of the spherical cells, the size and the shape of each spherical cell can be changed. With two friction feet sticking with the ground in turn, the soft robot can move forwards, make a turning motion and avoid the obstacle. This paper creates a nonlinear relation between the pressurePand the inflation radiusat different original radiiand obtains the inflation or deflation velocity. Six inflating and deflating steps to finish the turning motion are presented. Based on the geometric relationship between the inflation radius (r) and the original radiusof each cell, the nonlinear turning process is described to control the center positions (x,y,z) of the spherical cell. Last, a simulation and an experiment of five spherical cells are shown to emulate the turning process. Experiment results show that the robot has a maximum turning capability ofin one period.