期刊
JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES
卷 31, 期 16, 页码 1920-1934出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/1045389X20942319
关键词
soft robots; bionic design; shape memory alloy; differential friction; antagonistic configuration
This article presents a soft crawling robot prototype with a simple architecture inspired by inchworms. The robot functionally integrates the torso (body) and feet in a monolithic curved structure that only needs a single shape memory alloy coil and differential friction to actuate it. A novel foot configuration is proposed, which makes the two feet, with an anti-symmetrical friction layout, can be alternately anchored, to match the contraction-recovery sequence of the body adaptively. Based on the antagonistic configuration between the shape memory alloy actuator and the elastic body, a vertically auxiliary spring was adopted to enhance the interaction mechanism. Force and kinematic analysis was undertaken, focusing on the parametric design of the special foot configuration. A miniature robot prototype was then 3D-printed (54 mm in length and 9.77 g in weight), using tailored thermoplastic polyurethane elastomer as the body material. A series of experimental tests and evaluations were carried out to assess its performance under different conditions. The results demonstrated that under appropriate actuation conditions, the compact robot prototype could accomplish a relative speed of 0.024 BL/s (with a stride length equivalent to 27% of its body length) and bear a load over five times to its own weight.
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