Design and Experimental Validation of a Worm-Like Tensegrity Robot for In-Pipe Locomotion
作者机构：School of Control Science and EngineeringShandong UniversityJinan250061China Engineering Research Center of Intelligent Unmanned System of Ministry of EducationJinan250061China Shandong Research Institute of Industrial TechnologyJinan250061China State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150080China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2023年第20卷第2期
页 面：515-529页
核心收录：
学科分类：0710[理学-生物学] 08[工学] 080202[工学-机械电子工程] 0802[工学-机械工程] 0836[工学-生物工程] 0811[工学-控制科学与工程]
基 金：National Natural Science Foundation of China,52005293,Yixiang Liu,U20A20201 Yixiang Liu,Shandong Provincial Natural Science Foundation,ZR2020QE152 Yixiang Liu,Key R&D Program of Hebei Province,China,20311803D Yixiang Liu,Key R&D Program of Shandong Province,China,2021CXGC011304 Yixiang Liu,Research Project of the State Key Laboratory of Mechanical Transmissions,Chongqing University,SKLMT-MSKFKT-202118 Yixiang Liu,Fundamental Research Funds of Shandong University,2021JCG001,Yixiang Liu.
主 题：Bio-inspired robot Soft robot application Tensegrity structure Pipe crawling
摘 要：Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and adaptability.Although soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft materials.Tensegrity structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft structures.By applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside pipes.First,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is analyzed.Then,the optimal parameters of the module are obtained based on the tensegrity form-finding.The deformation ability of the tensegrity module is tested experimentally.Finally,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in series.Motion performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow pipe.Experimental results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.
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