A 3D printed hydrostatic skeleton for an earthworm-inspired soft burrowing robot
A 3D printed hydrostatic skeleton for an earthworm-inspired soft burrowing robot
复制标题
用于受蚯蚓启发的软体穴居机器人的 3D 打印静压骨架
DOI：
10.1039/d2sm00882c
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发表时间：
2022
期刊：
影响因子：
3.4
通讯作者：
Kuniyoshi Yasuo
中科院分区：
文献类型：
--
作者：
Niiyama Ryuma;Matsushita Kazuma;Ikeda Masahiro;Or Keung;Kuniyoshi Yasuo
在土壤中移动对于机器人来说是一项挑战，特别是对于软机器人。在这里，我们提出了一种支持结构，基于蚯蚓的静水骨架，以克服这个问题。为了制造出非常灵活、薄壁、蠕虫大小的变形段，使用了一种专门用于低硬度橡胶的3D打印机。为了获得大的径向变形，我们研究了用于3D打印的软材料的特性和片段的几何形状。值得注意的是，段用多缠绕的形状记忆合金线变形。我们通过串联形状记忆合金驱动段构建了一个履带式机器人，并通过实验证明了该机器人可以在土壤中推进。所提出的机器人是独特的，因为它具有10毫米的小直径，并表现出在土壤中的蠕动运动。
Moving through soil is challenging for robots, particularly for soft robots. Herein, we propose a support structure, based on the hydrostatic skeleton of earthworms, to overcome this problem. To create extremely flexible, thin-walled, worm-sized deformed segments, a specialized 3D printer for low-hardness rubber was utilized. To obtain large radial deformation, we investigated the properties of the soft materials for 3D printing and the geometry of the segments. Notably, segments are deformed with multiply-wound shape memory alloy wires. We constructed an earthworm robot by connecting shape memory alloy-driven segments in series and experimentally demonstrated that this robot could propel in the soil. The proposed robot is unique in that it has a small diameter of 10 mm and exhibits a peristaltic motion in soil.