3腔道仿生软体爬行机器人设计

Research of Three-Cavity Bionic Soft Crawling Robot

为了改善软体机器人复杂的结构和繁琐的控制系统,课题组设计了一种气压驱动仿生软体爬行机器人,由3腔道外波纹式软体驱动器和前后卡脚组成。根据驱动器各个气腔内部气压产生不同方向的弯曲变形,实现了爬行机器人前进、转向和抬头等仿蠕虫运动;同时,基于虚功原理和Yeoh模型搭建了非线性数学预测模型。为验证预测模型的准确性,设计了有限元仿真分析和实体样机试验,将所得数据与数学模型预测值进行对比,结果表明非线性数学预测模型具有有效性。本研究提出了结构更简洁、弯曲更灵活、力学性能更好的3腔道仿生软体爬行机器人,建立的数学预测模型能够较为准确地预测3腔道软体驱动器在不同气压下弯曲步幅的大小。

In order to improve the complex structure and cumbersome control systems of the soft robot, a pneumatically driven bionic soft crawling robot composed of a three-cavity external corrugated soft driver and front and rear clamp feet was designed. According to the internal air pressure of each air cavity of the driver, the bending deformation was generated in different directions, and the worm-like movement of the crawling robot such as moving forward, turning, and raising its head was realized. At the same time, a nonlinear mathematical prediction model was built based on the principle of virtual work and the Yeoh model. In order to verify the accuracy of the prediction model, a finite element simulation analysis and a physical prototype test were designed, and the obtained data was compared with the predicted value of the mathematical model. The results show that the nonlinear mathematical prediction model is effective. A three-cavity bionic soft crawling robot with simpler structure, more flexible bending, and better mechanical properties was proposed, and the established mathematical prediction model can predict the bending step size of the three-cavity soft driver more accurately under different air pressures.