模块化软体机器人运动模式

Moving Mode of Modular Soft Robot

设计了一种模块化软体机器人,其由多个可变形的球形模块单元组成,根据球形模块单元的膨胀和收缩,能改变自身的尺寸向前移动.应用有限弹性理论,分析了球形模块单元的充气膨胀过程,结果表明球形模块单元的初始膨胀半径越小,其最大压力越大.描述了3个球形模块单元依次膨胀和收缩过程,得出1个周期内该软体机器人的运动模式.最后,通过3个球形模块软体机器人膨胀和收缩运动的实验,验证了模块化软体机器人运动模式的可行性.

A soft robot consisting of several deformable spherical cells was presented. According to the de- flating and inflating of the spherical cells, the size of each spherical cell could be changed, enabling the soft robot to move forward. In this paper, by using the finite elasticity theory, the inflation of a modular spherical cell was modeled. The result shows that as the original radius decreases, the maximum pressure increases. The moving mode was analyzed in one circular with the deflating and inflating actions of 3 mod ular spherical cells. Finally an experiment was conducted to verify the moving mode of the soft robot.