Abstract
A circular soft robot integrating the control system is constructed, which is actuated by eight shape memory alloy springs. Four flexible sensors are pasted on the soft robot’s inner face to detect the deformation for the closed-loop control. First, according to the Clausius–Clapeyron equation and Taylor’s expansion, a nonlinear deformation model is built to illustrate the relationship between stress, strain, and temperature during deformation. Then, based on this nonlinear deformation model and the analysis on the dynamic deformation process of the robot, the nonlinear relationship between the robot’s deformation and heating time is derived. Further, the displacement curve is also obtained from the dynamic analysis on the rolling deformation process of the soft robot. In the last, several experiments including different drive modes and heating times are performed. The experiment results show that the circular soft robot is able to finish locomotion and the closed-loop control system could improve the stability.
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