期刊
FRONTIERS OF MECHANICAL ENGINEERING
卷 16, 期 1, 页码 163-175出版社
HIGHER EDUCATION PRESS
DOI: 10.1007/s11465-020-0605-3
关键词
soft robot; soft pneumatic actuator; kinematic model; crawling robot; modular design
资金
- National Natural Science Foundation of China [52075180, U1713207]
- Science and Technology Program of Guangzhou [201904020020]
- Fundamental Research Funds for the Central Universities
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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据