摘要
Tip-extending soft robots,taking flexible film or rubber as body material and fluid pressure as input power,exhibit excellent advantages in constrained and cluttered environments for detection and manipulation.However,existing soft continuum robots are of great challenges in achieving multiple,mutually independent,and on-demand active steering over a long distance without precise steering control.In this paper,we introduce a vine-like soft robot made up of a pressurized thin-walled vessel integrated with the high controllability of a control system with multiple degrees of freedom in three dimensions.Moreover,steering and kinematic models to relate the steering angle and robot length to the location of the robot tip are provided,and a dynamic finite element model for analyzing the motion of the spatial consecutive steering is established.We demonstrate the abilities of disinfection of the robot moving in a long and tortuous pipeline and detection in a multi-obstacle constrained environment.It is established that the robot exhibits great advantages in active consecutive steering over a long distance,high controllability in completing more complex path planning,and significant ability of carrying operational tools for ventilation pipeline disinfection and multi-obstacle detection.The bionic soft robot shows great promise for use in environment sensing,target detecting,and equipment servicing.
出处
《Research》
EI
CAS
CSCD
2022年第1期177-184,共8页
研究(英文)
基金
supported by the Open Project of Shanghai Key Laboratory of Spacecraft Mechanism(18DZ2272200)
the National Natural Science Foundation of China(51822503,51875141,51905135,and U20A20297)
the Natural Science Foundation of Heilongjiang Province of China(LH_(2) 020E044)
the China Postdoctoral Science Foundation(2019M651275 and BX20190097)
the Heilongjiang Postdoctoral Science Foundation(LBH-Z19018).