Body stiffness in orthogonal directions oppositely affects worm-like robot turning and straight-line locomotion
Body stiffness in orthogonal directions oppositely affects worm-like robot turning and straight-line locomotion
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DOI：
10.1088/1748-3190/aaa342
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发表时间：
2018-03-01
影响因子：
3.4
通讯作者：
Quinn, R. D.
中科院分区：
文献类型：
--
作者：
Kandhari, A.;Huang, Y.;Quinn, R. D.
蚯蚓利用节段收缩和扩张的行波运动，当对称时导致直线运动，当偏向时导致转弯。软体的力学机制允许大量可能的身体形状，这些形状既符合环境，又有助于定向运动。受蚯蚓的启发，我们开发了一种新型的顺应平台的模块化啮合蜗杆转向机器人(CMMWorm-S)来研究这种类型的运动。与我们以前的机器人相比，CMMWorm-S能够进行全新的运动(转向)，每段使用两个驱动自由度(总共12个电机)。网格的模块化由3D打印的刚性部件和柔性管组成，允许互换组件以改变机器人的刚度。在这个机器人平台上，我们证明了运动效率对车身刚度很敏感。特别是，较大的弯曲刚度改善了转弯运动，而较大的周向刚度加快了直线运动。给出的数据显示了每个部件对网格型机器人纵向、周向和弯曲刚度的贡献。这些分析有助于制定对未来软机器人蠕动装置有用的设计标准。
Earthworms locomote using traveling waves of segment contraction and expansion, which when symmetric result in straight-line locomotion and when biased result in turning. The mechanics of the soft body permit a large range of possible body shapes which both comply with the environment and contribute to directed locomotion. Inspired by earthworms, our new platform Compliant Modular Mesh Worm robot with Steering (CMMWorm-S) has been developed to study this type of locomotion. Compared with our previous robots, CMMWorm-S is capable of an entirely new movement (turning) using two actuated degrees of freedom per segment (a total of 12 motors). The modularity of the mesh, composed of 3D printed rigid pieces and flexible tubes, allows for the interchange of components to vary the stiffness of the robot. On this robotic platform, we show that locomotion efficiency is sensitive to body stiffness. In particular, greater bending stiffness improves turning locomotion, whereas greater circumferential stiffness speeds straight-line locomotion. The data presented demonstrate the contribution of each component towards the longitudinal, circumferential and bending stiffness of mesh-based robots. These analyses can help in the development of design criteria useful for future soft robotic peristaltic devices.