Modeling and Development of a Climbing Soft Robot

本研究项目的目标是通过有效的数学方法来描述软体机器人，并通过一个攀登原型来展示它们的潜在应用。软体机器人是一种没有骨骼结构的新型机器人。它们是由柔软和高度可变形的材料制成的。由于使用软材料，可以实现复杂和可变的运动以及特殊属性，这对于搜索或救援情况，医疗保健或合作人员援助的应用至关重要。这种软连续体的设计和描述需要新的机器人模型。在本研究项目中，将发展连续介质力学和简单材料模型的特殊理论，并将其应用于软机器人的制造原型。重点在于有效地描述机器人的变形和运动，以及接触现象和驱动控制。基于软连续体的改进方法，将建立一个描述软机器人特性的模型。除了理论工作外，还将制造两个攀爬软机器人的原型。第一种方法是在机器人的四肢上镶嵌金属，并通过电场激活。所以在金属表面上攀爬是可能的。对于第二个原型，将在四肢上添加粘合剂垫，这样它就可以爬上任何粗糙或光滑的墙壁。一个特殊的挑战是同步肢体的变形和金属镶嵌和粘合垫的激活。本研究项目中关于软连续体的充分数学描述的工作对软机器人的发展做出了贡献，并将与原型一起展示可能的应用。

The goal of this research project is to describe soft robots by efficient mathematical methods and to show their potential application by a climbing prototype. Soft robots are a new kind of robots without a skeletal structure. They are manufactured from soft and highly deformable materials. Due to the use of soft materials complex and variable locomotion as well as special attributes are realizable which are essential for application in search or rescue situations, healthcare or cooperative human assistance. For design and description of such soft continua new robot models are needed. In this research project special theories of continuum mechanics and simple material models will be developed and adapted to manufactured prototypes of soft robots. The main focus lies on an efficient description of the deformation and locomotion of the robots as well as of the contact phenomena and control of the actuation. Based on the enhanced methods for soft continua a model will be developed to describe the characteristics of soft robots. Beside theoretical work two prototypes of a climbing soft robot will be manufactured. For the first one metal inlays will be implemented at the limbs of the robot and will be activated via an electric field. So climbing on metallic surfaces is possible. For the second prototype adhesive pads will be added on the limbs so it can climb on any kinds of rough or smooth walls. A special challenge is to synchronize the deformation of the limbs and the activation of the metallic inlays and adhesive pads. The work on sufficient mathematical descriptions of soft continua within this research project makes a contribution to the development of soft robots and possible applications will be shown with the prototypes.