Modular crawling robots using soft pneumatic actuators

doi:10.1007/s11465-020-0605-3

Front. Mech. Eng.

2021, Vol. 16

Issue (1) : 163-175 https://doi.org/10.1007/s11465-020-0605-3

RESEARCH ARTICLE

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG¹(

), Bicheng CHEN¹, Xiandong GE¹, Xianmin ZHANG¹, Wenbin WANG²(

)

¹. Guangdong Key Laboratory of Precision Equipment and Manufacturing Technology, School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China
². School of Mechanical and Electrical Engineering, Shenzhen Polytechnic, Shenzhen 518055, China

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Abstract

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.

Keywords soft robot soft pneumatic actuator kinematic model crawling robot modular design

Corresponding Author(s): Nianfeng WANG,Wenbin WANG

Just Accepted Date: 13 November 2020 Online First Date: 21 December 2020 Issue Date: 11 March 2021

Cite this article:

Nianfeng WANG,Bicheng CHEN,Xiandong GE, et al. Modular crawling robots using soft pneumatic actuators[J]. Front. Mech. Eng., 2021, 16(1): 163-175.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-020-0605-3
https://academic.hep.com.cn/fme/EN/Y2021/V16/I1/163

Fig.1 Concept of a crawling robot: (a) Crawling robot with three segments, (b) diagram of straight crawling, and (c) diagram of turning.

Fig.2 Configuration and deformation of SPAs: (a) aeSPA and (b) dbSPA.

Fig.3 Modules of soft crawling robots.

Fig.4 Assembled soft crawling robots.

Fig.5 Construction of SPAs: (a) aeSPA and (b) dbSPA.

Fig.6 Model of aeSPA before and after actuation.

Fig.7 Model of dbSPA before actuation, and the virtual and real deformation of the bending dbSPA.

Fig.8 Discretization of dbSPA and bending deformation of a unit with pressure.

Fig.9 Fabrication of aeSPA and dbSPA: (a) Assembly of the mold, (b) casting, (c) de-molding, (d) sealing of the wall, (e) constraining the SPA, and (f) drilling holes for the air tube.

Fig.10 Experimental setup for the tests on SPAs.

Fig.11 Experimental and numerical results of different SPAs. (a) aeSPA (50 mm); (b) aeSPA (25 mm); (c) dbSPA (extending); (d) dbSPA (bending).

Fig.12 Actuation times of SPAs at different pressures.

Fig.13 Crawling tests on a soft robot: (a) Experimental setup and (b) control scheme.

Fig.14 Crawling process of a soft robot: (a) Straight crawling and (b) turning.

Fig.15 Actuation time of straight crawling for the different soft robots.

Fig.16 Crawling velocities and errors of the robots.

Fig.17 Actuation time of turning for the different soft robots.

Fig.18 Crawling angular velocities and errors of the robots.

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