Abstract
Based on the motion principle of bionic earthworms, we designed and fabricated a novel crawling robot driven by pneumatic power. Its structure is divided into four segments, and its motion process is periodic with high stability. Due to the pneumatic suction cups mounted on its feet, it is able to crawl on smooth horizontal, inclined, or vertical walls. On this basis, we designed a novel underactuated steering mechanism. Through the tendons on both sides and the springs installed on the side of the robot, we accurately controlled the steering motion of the robot. We analyzed the steering process in detail, calculated the influence of external parameters on the steering process of the robot, and simulated the trajectory of the robot in the steering process. The experimental results validated our analysis. In addition, we calculate the maximum thrust that each segment of the robot can provide, and determine the maximum load that the robot can bear during climbing motions.
Highlights
For a long time, the principle of bionic motion has been widely applied in the design of various crawling robots, and has attracted attention from many researchers all over the world
Phase 3: The feet of Segment 3 are off the work surface and lifted; the remaining feet are still attached to the work surface
Its skeleton is made of nylon andsegmented is divided crawling into four segments
Summary
The principle of bionic motion has been widely applied in the design of various crawling robots, and has attracted attention from many researchers all over the world. The earthworm-inspired friction-controlled soft robot described in [16] uses two independent elastic airbags at the front and rear ends, in which the friction coefficient with the working surface changes with the air pressure. Two different motion patterns are developed in order to adapt to different pipe situations such as continuous elbow pipes and straight pipes Such design does not have the ability to conduct steering motion independently, which may become a serious problem when these robots reach the intersection points in complex pipeline systems.
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