Soft Modular Climbing Robots
Soft Modular Climbing Robots
复制标题
DOI：
10.1109/tro.2022.3189228
复制
发表时间：
2022-07-27
影响因子：
7.8
通讯作者：
Sun, Dong
中科院分区：
文献类型：
--
作者：
Hu, Qiqiang;Dong, Erbao;Sun, Dong
柔性爬壁机器人在检测、维护、搜救等领域具有广泛的应用前景。然而，这些机器人在各种表面环境中的适应性和运动能力方面面临挑战，例如具有大间隙或非平坦表面的表面。在这篇文章中，我们开发了一个软模块化的攀爬机器人称为Smcbot，这是组装的基础上，几个柔软的身体和脚模块。软体模块通过两个由形状记忆合金丝制成的软致动器提供大范围的伸缩运动和高输出负载。同时，由于采用了粘合剂策略，脚模块在不同表面上提供了相当大的粘合力。还开发了一个理论模型来预测输出性能（例如，刚度和输出位移），并通过实验对结果进行了验证。Smcbot的适应性和运动能力，表现在平面和非平面具有不同的属性，如表面具有较大的间隙和光滑和粗糙的表面。本文采用模块化设计，以较低的时间消耗和成本，扩大了软体攀爬机器人的应用范围，使其能够适应各种具有挑战性的环境。
Soft climbing robots have elicited widespread attention for their potential applications in inspection, maintenance, and search and rescue tasks. However, these robots face challenges in terms of their adaptability and motion capability in various surface environments, such as surfaces with a large gap or nonflat surfaces. In this article, we develop a soft modular climbing robot called Smcbot, which is assembled based on several soft bodies and feet modules. The soft body module provides large-scale telescopic motion and high output load through two soft actuators made of shape memory alloy wires. Meanwhile, the feet modules provide considerable adhesion on different surfaces due to the applied adhesive strategy. A theoretical model is also developed to predict the output performance (e.g., stiffness and output displacement) of the soft body, and the results are verified through experiments. The adaptability and motion capability of Smcbot is demonstrated on flat and nonflat surfaces with different properties, such as surfaces with a large gap and those with smooth and rough surfaces. This article uses the modular design to expand the application scope of soft climbing robots and to facilitate their adaption to various challenging environments with low time consumption and cost.