Multi-material 3D printing of caterpillar-inspired soft crawling robots with the pneumatically bellow-type body and anisotropic friction feet
Multi-material 3D printing of caterpillar-inspired soft crawling robots with the pneumatically bellow-type body and anisotropic friction feet
复制标题
多材料 3D 打印具有气动波纹管型身体和各向异性摩擦脚的履带式软爬行机器人
DOI：
10.1016/j.sna.2020.112398
复制
发表时间：
2020-12-01
影响因子：
4.6
通讯作者：
Gu, Guoying
中科院分区：
文献类型：
--
作者：
Sheng, Xinjun;Xu, Haipeng;Gu, Guoying
柔性爬行机器人由于具有较大的变形能力和较强的适应能力，在复杂地形和复杂环境中具有广阔的应用前景。然而，设计和制造的软爬行机器人的混合软和刚性部件仍然是难以捉摸的。在这里，我们提出了一种新型的履带式驱动的软爬行机器人，它可以直接用多种材料3D打印，而无需复杂的组装过程。为了模仿毛毛虫的生物结构和形态运动，设计了一种柔性爬行机器人，该机器人具有一个波纹管驱动的波纹体、12个各向异性摩擦足和两个端盖，并在爬行机器人的身体和足部之间引入了被动协同运动模型。通过选取不同的足部截面形状，对柔性爬行机器人的运动性能进行了表征。最后，我们整合了一个气动闭环控制系统来驱动软体爬行机器人以周期性的步态行走，并展示了它们在弯曲塑料管中的运动能力。(C)2020爱思唯尔B.V.保留所有权利。
Due to large shape-changing ability and high adaptability, soft crawling robots become a promising candidate in applications with unpredictable terrain and complex environments. However, designing and fabricating of soft crawling robots with hybrid soft and rigid components are still elusive. Here, we present a novel caterpillar inspired pneumatically-driven soft crawling robot, which can be directly 3D printed with multiple materials and without complex assembling process. To mimic the biological structure and morphological locomotion of caterpillars, we design the soft crawling robot with a pneumatically driven bellow-type body, 12 anisotropic frictional feet, and two end caps, and introduce a passive synergy locomotion model between the crawling robot's body and feet. By selecting different cross-section shape of the feet, we characterize the moving performance of soft crawling robots. Finally, we integrate a pneumatic closed-loop control system to drive the soft crawling robots with a periodic gait and demonstrate their motion capability in a curve plastic tube. (C) 2020 Elsevier B.V. All rights reserved.