Design and analysis of modular pneumatic soft crawling robots
ObjectiveThe modular soft robot has high flexibility and unlimited degrees of freedom in theory, and can adapt to various complex environments and task requirements. Therefore, a kind of honeycomb soft driving unit was designed, which can be connected and composed to realize the modular driving soft...
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Editorial Office of Journal of Mechanical Transmission
2025-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.01.008 |
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| author | YIN Hongfei LÜ Yuedong SONG Xiaojuan |
| author_facet | YIN Hongfei LÜ Yuedong SONG Xiaojuan |
| author_sort | YIN Hongfei |
| collection | DOAJ |
| description | ObjectiveThe modular soft robot has high flexibility and unlimited degrees of freedom in theory, and can adapt to various complex environments and task requirements. Therefore, a kind of honeycomb soft driving unit was designed, which can be connected and composed to realize the modular driving soft robot with different functions.MethodsThe material selection and mechanical analysis of the designed imitation honeycomb soft drive unit were carried out, and a nonlinear relational model between the driving pressure and deformation in the soft drive unit was established; the validity of the model was verified by combining with the finite element simulation. Based on the imitation honeycomb soft body drive unit module, a flexible soft robot and a bidirectional bending soft robot were designed, and finite element simulations on both configurations of soft robots were conducted. Finally, the production of soft robots and test research on the modular driving of soft robots were conducted.ResultsThe simulation results show that the bidirectional bending soft robot has a larger deformation range and better bearing capacity than the flexible soft robot with the same length. The test results show that the bidirectional bending soft robot can realize the linear crawling and turning motion like worm. And the test results of two kinds of soft robot configurations are basically consistent with the simulation results. |
| format | Article |
| id | doaj-art-7df08a48f6294349af047668de717d9f |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2025-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-7df08a48f6294349af047668de717d9f2025-01-25T19:01:07ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392025-01-0149647381410841Design and analysis of modular pneumatic soft crawling robotsYIN HongfeiLÜ YuedongSONG XiaojuanObjectiveThe modular soft robot has high flexibility and unlimited degrees of freedom in theory, and can adapt to various complex environments and task requirements. Therefore, a kind of honeycomb soft driving unit was designed, which can be connected and composed to realize the modular driving soft robot with different functions.MethodsThe material selection and mechanical analysis of the designed imitation honeycomb soft drive unit were carried out, and a nonlinear relational model between the driving pressure and deformation in the soft drive unit was established; the validity of the model was verified by combining with the finite element simulation. Based on the imitation honeycomb soft body drive unit module, a flexible soft robot and a bidirectional bending soft robot were designed, and finite element simulations on both configurations of soft robots were conducted. Finally, the production of soft robots and test research on the modular driving of soft robots were conducted.ResultsThe simulation results show that the bidirectional bending soft robot has a larger deformation range and better bearing capacity than the flexible soft robot with the same length. The test results show that the bidirectional bending soft robot can realize the linear crawling and turning motion like worm. And the test results of two kinds of soft robot configurations are basically consistent with the simulation results.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.01.008ModularityPneumatic soft robotNonlinear modelStructural simulation analysis |
| spellingShingle | YIN Hongfei LÜ Yuedong SONG Xiaojuan Design and analysis of modular pneumatic soft crawling robots Jixie chuandong Modularity Pneumatic soft robot Nonlinear model Structural simulation analysis |
| title | Design and analysis of modular pneumatic soft crawling robots |
| title_full | Design and analysis of modular pneumatic soft crawling robots |
| title_fullStr | Design and analysis of modular pneumatic soft crawling robots |
| title_full_unstemmed | Design and analysis of modular pneumatic soft crawling robots |
| title_short | Design and analysis of modular pneumatic soft crawling robots |
| title_sort | design and analysis of modular pneumatic soft crawling robots |
| topic | Modularity Pneumatic soft robot Nonlinear model Structural simulation analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.01.008 |
| work_keys_str_mv | AT yinhongfei designandanalysisofmodularpneumaticsoftcrawlingrobots AT luyuedong designandanalysisofmodularpneumaticsoftcrawlingrobots AT songxiaojuan designandanalysisofmodularpneumaticsoftcrawlingrobots |