Pitch-Up Motion Mechanism With Heat Welding by Soft Inflatable Growing Robot
Pitch-Up Motion Mechanism With Heat Welding by Soft Inflatable Growing Robot
复制标题
软体充气种植机器人热焊接俯仰运动机构
DOI：
10.1109/lra.2022.3153724
复制
发表时间：
2022
影响因子：
5.2
通讯作者：
Ishii Hiroyuki
中科院分区：
文献类型：
--
作者：
Satake Yuki;Ishii Hiroyuki
软生长机器人最近引起了相当大的兴趣。他们预计将在复杂的环境中利用其灵活性和适应性。然而，它们中的一些不能在不与物体接触的情况下保持其弯曲形状，并且它们中的一些机构复杂。在这篇文章中，我们提出了一种新的热焊接机构的俯仰运动没有任何支持。建议的机器人使用角撑板折叠管和焊接其角撑板部分。焊接管弯曲，机器人执行上仰运动。此外，我们还对焊接弯管的特性进行了实验研究，建立了焊接弯管的刚度模型和弯曲角模型。结果表明，它们取决于管直径，焊缝形状，和内压。我们进行了实验来评估机器人的性能，并确认，机器人可以保持其弯曲形状的最大弯曲力矩在更高的内压下增加，并且通过连续弯曲获得大的弯曲角度。此外，我们证实，所提出的模型可以充分模拟俯仰运动的机器人。所提出的机构使机器人能够执行新的上仰运动，并扩大了成长型机器人的应用。
Soft growing robots have recently attracted considerable interest. They are expected to operate in complicated environments leveraging their flexibility and adaptability. However, some of them are unable to maintain their bending shape without contact with an object, and some of their mechanisms are complex. In this article, we propose a novel heat welding mechanism for pitch-up motion without any support. The proposed robot uses a gusset folded tube and welds its gusset parts. The welded tube is bent, and the robot performs a pitch-up motion. In addition, we experimentally investigate the characteristics of welded bending tubes and develop a stiffness model and bending angle model. The results demonstrate that they depend on the tube diameter, weld shape, and inner pressure. We conducted experiments to evaluate the performance of the robot and confirmed that the maximum bending moment based on which the robot can maintain its bending shape increases under a higher inner pressure, and a large bending angle is obtained by continuous bending. Further, we confirmed that proposed models can adequately simulate the pitch-up motion of the robot. The proposed mechanism enables the robot to perform novel pitch-up motion and expands the application of growing robots.