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Soft crawling robot

A crawling robot and robot technology, which is applied in motor vehicles, transportation and packaging, etc., can solve the problems of complex motion sequences and crawling speed limitations of soft crawling robots, and achieve the effects of high cost performance, good performance, and simple and effective integration.

Inactive Publication Date: 2018-10-09
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, one problem with the above technologies is that the motion sequence of the soft crawling robot in one cycle is complex, and the crawling speed is limited.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] Such as figure 1 As shown, a soft crawling robot is characterized in that it includes a body 1 and a plurality of wedge-shaped hard friction plates 10 affixed to the body 1. The body 1 is made of a soft material, and the soft material is silica gel or gel or rubber. The overall shape of the body 1 is bow-like, and a bow-like closed air cavity 11 and a vent 111 communicating with an external driving air source are arranged inside.

[0024] During operation, the driving air source inflates or deflates the closed air cavity 11 inside the main body 1 through the air vent 111 . When inflated, the body 1 expands, and under the restriction of the wedge-shaped friction plate 10 , the right end of the body 1 moves to the right relative to the left end of the body 1 . When deflated, the body 1 shrinks, and under the restriction of the wedge-shaped friction plate 10 , the left end of the body 1 moves to the right relative to the right end of the body 1 . When the cycle is infla...

Embodiment 2

[0026] Such as figure 2 As shown, a soft crawling robot is characterized in that it includes a body 1 and an appendage 2, the body 1 and the appendage 2 are made of soft materials, and the elastic modulus of the material for making the appendage 2 is greater than the elasticity of the material for making the body 1 modulus. The modulus of elasticity of the material for making the appendage 2 is greater than the modulus of elasticity of the material for making the main body 1, and the bending deformation posture and motion process of the entire manipulator can be controlled by the elastic modulus of the material for the appendage 2. The overall shape of the body 1 is bow-like, and a bow-like closed air cavity 11 and a vent 111 communicating with an external driving air source are arranged inside. The bottom surface of the appendage 2 and the main body 1 are fixed together. A plurality of wedge-shaped hard friction plates 10 fixed on the body 1 on the appendage 2 .

[0027] ...

Embodiment 3

[0030] Such as image 3As shown, a soft crawling robot is characterized in that it includes a main body 1 and an appendage 2. The main body 1 and the appendage 2 are made of the same soft material. When the appendage 2 is made, an inextensible layered layer is set inside it. Substance 21. The overall shape of the body 1 is bow-like, and a bow-like closed air cavity 1 and a vent 111 communicating with an external driving air source are arranged inside. The bottom surface of the appendage 2 and the main body 1 are fixed together. A plurality of wedge-shaped hard friction plates 10 fixed on the body 1 on the appendage 2 . The inextensible layered substance 21 is a gauze net or a fine wire mesh or a paper sheet or a fine fiber net. The body and the appendages of the present invention can be made of soft materials with the same characteristics, and an inextensible layered substance is arranged inside the appendages to ensure that the body of the flexible finger bends under the r...

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Abstract

A soft crawling robot comprises a body and multiple wedge-shaped hard friction sheets, wherein the wedge-shaped hard friction sheets are fixedly connected to the body; the body is made of a flexible material; the integral shape of the body is similar to a bow shape; a bow-like sealed gas chamber and a vent opening which is in communication with an external driving gas source are formed in the body; during inflating, the body swells; under the restrictions of the wedge-shaped hard friction sheets, the right end of the body moves to the right relative to the left end of the body; during deflating, the body retracts; and under the restrictions of the wedge-shaped hard friction sheets, the left end of the body moves to the right relative to the right end of the body. According to the soft crawling robot, due to the bow-like integral layout and the bow-like gas chamber, faster swelling deformation during deflating and faster closure deformation during deflating can be guaranteed to be convenient for the soft robot to more rapidly move ahead.

Description

technical field [0001] The invention relates to a soft crawling robot, in particular to a gas-driven soft crawling robot. Background technique [0002] Soft robots are made of flexible materials, which can change their shape and size arbitrarily in a wide range, and have broad application prospects in the fields of reconnaissance, detection, rescue and medical treatment. [0003] Among the soft robots, the soft crawling robot has its own advantages. The representative soft crawling robot developed at home and abroad is the GoQBot soft robot developed by Tufts University in the United States, which can roll and eject like a caterpillar. Waseda University made use of gel-actuated properties based on B-Z chemical reactions to enable its gel-body robot to walk freely. Tufts University designed a soft crawling robot based on a 3D printed shell embedded with SMA driven by studying the movement of caterpillars; WANG et al. from Seoul National University designed a soft crawling ro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
CPCB62D57/021
Inventor 王立平安敏·骆邵珠峰邓豪张兆坤吴超
Owner TSINGHUA UNIV
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