Abstract
A biomimetic soft worm robot has been developed using soft mesh structured polyethylene terephthalate thermoplastic driven by shape memory alloy springs. The bending behaviour of the robot for achieving steering in peristaltic and bending for two anchor locomotion has been investigated in detail. A flex sensor is attached with the soft worm to measure the bending/steering angle. An open-loop control approach is adopted for the study of soft worm’s bending actions. In peristaltic crawling, a bending angle of 57°, 48° and 48° was achieved in upward, left and right directions, respectively. The movement of the soft worm robot has been probed towards imitating the bending action of two anchor crawling locomotion with kapton polyamide legs. In two anchor crawling, a bending angle of 60° is achieved in downward direction.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Iranian Journal of Science and Technology, Transactions of Mechanical Engineering
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
