具有多地形运动能力的双模块软体机器人

王宇轩, 刘朝雨, 王江北, 费燕琼

Dual Modular Soft Robot with Multi-Terrain Movement Ability

WANG Yuxuan, LIU Zhaoyu, WANG Jiangbei, FEI Yanqiong

图7 直通式驱动器竖直爬管运动过程的受力情况示意图

Fig.7 Schematic diagram of forces of straight through actuator during vertical pipe climbing movement