Pneumatic bio-soft robot module:Structure,elongation and experiment

作     者：Bao Guanjun Yao Pengfei Xu Zonggui Li Kun Wang Zhiheng Zhang Libin Yang Qinghua 

作者机构：College of Mechanical EngineeringZhejiang University of TechnologyHangzhou 310014China 

出 版 物：《International Journal of Agricultural and Biological Engineering》 (国际农业与生物工程学报（英文）)

年 卷 期：2017年第10卷第2期

页      面：114-122页

核心收录：

学科分类：0710[理学-生物学] 0810[工学-信息与通信工程] 0401[教育学-教育学] 04[教育学] 0805[工学-材料科学与工程（可授工学、理学学位）] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：NSFC-Zhejiang Joint Foundation(Grant No.U1509212) National Natural Science Foundation of China(Grant No.51405441,51605434) Natural Science Foundation of Zhejiang Province(Grant No.Q15E050025) 

主　　题：bio-soft robot pneumatic muscle actuator static model harvesting robot 

摘      要：Soft robotics,often taking inspirations from biomimetics,is an exciting novel research field and has great capability to work with creatures.A new type of bio-soft robot inspired by elephant trunk and octopus was proposed,which has a promising application in robotic agricultural *** two modularized structures,basal segment and caudal segment,were elaborated in *** both have three side chambers and one central chamber,which are reinforced by springs for better stretch performance in axial direction without radial *** the chambers can act as drivers when inflated with compressed *** importantly,the central chamber was designed for regulating the stiffness of the robot module as needed in *** primary static model for axial elongation was established for the fundamental analysis of the bio-soft robot module’s features,such as iso-force,isobaric and isometric *** and experimental results showed that the motion of the proposed bio-soft module has approximate linearity in iso-force and isobaric conditions,and strict linearity in isometric condition.