Modular Soft Robotic Crawlers Based on Fluidic Prestressed Composite Actuators
作者机构：Shien-Ming Wu School of Intelligent EngineeringSouth China University of TechnologyGuangzhou511442China School of Mechanical and Electrical EngineeringGuangzhou UniversityGuangzhou510006China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2024年第21卷第2期
页 面：694-706页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by the National Natural Science Foundation of China under Grant No.62203174 the Guangzhou Municipal Science and Technology Project under Grant No.202201010179
主 题：Soft robot Soft crawler Fluidic prestressed composite Kinematic model Enhanced loading Multi-modal capability
摘 要：Soft robotic crawlers have limited payload capacity and crawling *** study proposes a high-performance inchworm-like modular robotic crawler based on fluidic prestressed composite(FPC)*** FPC actuator is precurved and a pneumatic source is used to flatten it,requiring no energy cost to maintain the equilibrium curved *** and depressurizing the actuators generate alternating stretching and bending motions of the actuators,achieving the crawling motion of the robotic ***-modal locomotion(crawling,turning,and pipe climbing)is achieved by modular reconfiguration and gait *** analytical kinematic model is proposed to characterize the quasi-static curvature and step size of a single-module *** configurations of robotic crawlers are fabricated to demonstrate the crawling ability of the proposed design.A set of systematic experiments are set up and conducted to understand how crawler responses vary as a function of FPC prestrains,input pressures,and actuation *** per the experiments,the maximum carrying load ratio(carrying load divided by robot weight)is found to be 22.32,and the highest crawling velocity is 3.02 body length(BL)per second(392 mm/s).Multi-modal capabilities are demonstrated by reconfiguring three soft crawlers,including a matrix crawler robot crawling in amphibious environments,and an inching crawler turning at an angular velocity of 2/s,as well as earthworm-like crawling robots climbing a 20 inclination slope and pipe.
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