Dual Modular Soft Robot with Multi-Terrain Movement Ability

doi:10.16183/j.cnki.jsjtu.2021.290

Abstract

Abstract:

Aimed at the problems of limited application range, single movement scene, inability of climbing, and limited space movement of the multi-terrain movement robot, a novel dual module soft robot with the multi-terrain movement ability is proposed. Each soft module is composed of a four-chamber omnidirectional bending soft pneumatic actuator. By establishing the bending model of the omnidirectional bending soft actuator, the variation law of the omnidirectional bending soft actuator is analyzed. A new rotary movement mode is proposed, which enables the robot to move in a variety of complex environments in the rotary movement mode. A gait control method based on pulse width modulation (PWM) is proposed to make the robot realize the multi-terrain movement function more simply and quickly, and its feasibility is verified by experiments. The experimental results show that the dual modular soft robot based on the four-chamber omnidirectional bending soft actuator can climb vertically along circular pipes, square pipes, and irregular rods (human forearms), and the crawling speed can reach 11.7 mm / s. It can also move rapidly in complex terrain such as flat ground, artificial turf, rugged road surface, and slope, and the crawling speed can reach 14.0 mm/s, which overcomes the shortcomings of the existing pipe climbing robot and multi-terrain movement robot. The modular soft robot can move stably and quickly in a variety of terrain, and has a strong adaptability. It has a potential application value in pipeline detection and complex terrain detection.

Key words: soft robot, modular, multi-terrain movement

CLC Number:

TP242

WANG Yuxuan, LIU Zhaoyu, WANG Jiangbei, FEI Yanqiong. Dual Modular Soft Robot with Multi-Terrain Movement Ability[J]. Journal of Shanghai Jiao Tong University, 2022, 56(10): 1388-1396.

Figures/Tables 20

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References 12

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参数	取值
U_e/V	DC 24
p_max/kPa	500
m_SMC/g	5
P_SMC/ W	0.5
t₁/ms	<3
t₂/ms	<3

不同攀爬环境	移动速度/(mm·s^-1)	不同攀爬环境	移动速度/(mm·s^-1)
50 mm外径PVC管道	6.5	66 mm×38 mm亚克力方管	8.6
63 mm外径PVC管道	8.1	150 mm内径PVC管道	6.8
40 mm×40 mm铝型材	5.4	男性小臂	11.7

不同地形	移动速度/(mm·s^-1)
人造草皮	6.5
木地板	8.1
6~9 mm碎石路面	8.6
10~20 mm碎石路面	5.4

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