Multi-modal motion bionic inchworm crawling and climbing soft robot

Abstract

The invention provides a multi-modal motion bionic inchworm crawling and climbing soft robot, which comprises feet and three deformable bodies sequentially connected between the two feet, and each deformable body is provided with an extensible face and a non-extensible face. The extensible faces are located on the opposite sides of the non-extensible faces so that the deformable bodies can deform between a linear structure and a C-shaped structure, and when the three deformable bodies are all in a linear structure, the direction of the non-extensible face of the middle deformable body is the same as the direction of the ground grabbing face of the foot, and the direction of the non-extensible face of the middle deformable body is opposite to the direction of the non-extensible faces of the deformable bodies located on the two sides, so that the deformable bodies can be matched with the feet in a flexible deformation mode to complete the horizontal crawling action and / or the climbing action. The multi-modal motion bionic inchworm crawling and climbing soft robot is simple in structure, light in mass and good in compliance, has the ability of multi-modal motion, adapts to motion in different environments and active conversion among the motions, and expands the motion adaptability of the soft robot in a complex environment.

Description

technical field [0001] The invention relates to the field of structural design and automatic control of soft robots, in particular to a multi-modal motion bionic inchworm crawling and climbing soft robot. Background technique [0002] Compared with traditional rigid robots, soft robots have the advantages of good flexibility, safe human-computer interaction, and strong environmental adaptability, so they have become a hot spot in the field of robotics research. Soft robots are usually composed of soft and variable materials whose Young's modulus is smaller than that of human muscles, and have infinite freedom of movement. The bionic soft robots inspired by natural creatures can imitate the elegant and natural movement of animals. Simplicity and rich athletic ability have become one of the key bionic objects. [0003] The motion ability of the robot is an important factor whether the robot can be applied in practice. Traditional rigid robots have shown rich crawling, wall-c...

AI Technical Summary

Problems solved by technology

Traditional rigid robots have shown rich crawling, wall-climbing, and load-bearing capabilities, but they have the disadvantages of complex structure, large size, and single motion ability; soft robots developed in recent years have adopted different structural designs, drive mechanisms, and motion controls. The movement on the horizontal plane and the vertical wall is realized in a simple and effective way, but the movement ability is still single and cannot realize the autonomous conversion movement from horizontal plane crawling to vertical plane climbing wall, which limits the application of this type of robot to complex and multi-environment

[0004] In the prior art, the patent document CN112849290A discloses a composite wall-climbing robot imitating the movement form of an inchworm. The robot is composed of rigid parts such as a motor, a gear, a rack, and a mechanical arm. By switching the roller and the suction cup, the ground wheel can be realized. fast moving mode and climbing mode; however, the structural robot has many types and complex parts, poor flexibility, and cannot complete the autonomous conversion movement from plane crawling to vertical climbing

[0005] Patent document CN212022832U discloses a soft robot imitating an inchworm. The soft robot consists of a deformed body and at least two variable friction feet. It has a simple structure and good flexibility, and can effectively crawl on a horizontal plane. Movement on the horizontal plane limits its application in complex and multi-environment

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