Journal
FRONTIERS OF MECHANICAL ENGINEERING
Volume 16, Issue 1, Pages 163-175Publisher
HIGHER EDUCATION PRESS
DOI: 10.1007/s11465-020-0605-3
Keywords
soft robot; soft pneumatic actuator; kinematic model; crawling robot; modular design
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Funding
- National Natural Science Foundation of China [52075180, U1713207]
- Science and Technology Program of Guangzhou [201904020020]
- Fundamental Research Funds for the Central Universities
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This research developed crawling robots using soft pneumatic actuators and achieved good agreement between experiments and numerical models.
Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion. In this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAs), namely, an axial elongation SPA and a dual bending SPA. By constraining the deformation of the elastomeric chamber, the SPAs realize their prescribed motions, and the deformations subjected to pressures are characterized with numerical models. Experiments are performed for verification, and the results show good agreement. The SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors. Control schemes are presented, and crawling tests are performed. The speeds predicted by the numerical models agree well with the speeds in the experiments.
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