Gas-powered soft-bodied crawling robot and manufacturing and controlling method thereof

A crawling robot, air-driven technology, applied in the direction of manufacturing tools, program control manipulators, manipulators, etc., can solve the problems of low crawling efficiency, limited degree of freedom, difficult to adapt, etc., to achieve improved crawling efficiency, good steering ability, and flexible body Effect
CN110270987AActive Publication Date: 2019-09-24SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
Publication Date
2019-09-24

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Abstract

The invention provides a gas-powered soft-bodied crawling robot and a manufacturing and controlling method thereof. The gas-powered soft-bodied crawling robot comprises at least two inflation extension type actuators, a connecting ring and a contact hand, the at least two inflation extension type actuators are combined side by side through the connecting ring and the contact hand to form the gas-powered soft-bodied crawling robot. The gas-powered soft-bodied crawling robot is suitable for pipeline detection, the crawling efficiency in the current soft-bodied robot pipeline can be improved, the robot can be suitable for multiple types of pipelines, it is proved that the designed soft-bodied robot can freely crawl at the high speed in the pipeline, the influence of the self gravity can be overcome, the good steering capacity is achieved, the robot can adapt to complex pipelines, meanwhile, the designed soft-bodied robot is flexible, and good in flexibility, and through carrying of an endoscope camera, the pipeline detection task is finished.
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Description

technical field

[0001] The invention relates to the technical field of soft robots, in particular to a gas-driven soft crawling robot and a manufacturing and control method thereof. Background technique

[0002] With the rapid development of science and technology, all kinds of robots emerge in endlessly, involving all aspects of people's lives, such as industrial robots, medical robots, service robots, special robots, etc. These robots have greatly reduced people's labor burden and facilitated people's lives, but these robots also have many limitations. In order to further improve the flexibility, safety and intelligence of robots, soft robots have become a research hotspot in the field of robotics. Compared with traditional rigid robots, the main advantages of soft robots are as follows: 1) Good safety. Traditional robots are mostly made of rigid materials, and their bodies are relatively rigid, so it is difficult to control force compliance in operation engineering. Sof...

Claims

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