• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (5): 27-35.doi: 10.3901/JME.2019.05.027

• 机构学及机器人 • 上一篇    下一篇

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轮足式仿生软体机器人设计与运动分析

姚建涛1,2, 陈新博1, 陈俊涛1, 张弘1, 李海利1, 赵永生1,2   

  1. 1. 燕山大学河北省并联机器人与机电系统实验室 秦皇岛 066004;
    2. 先进锻压成形技术与科学教育部重点实验室(燕山大学) 秦皇岛 066004
  • 收稿日期:2018-06-04 修回日期:2018-11-27 出版日期:2019-03-05 发布日期:2019-03-05
  • 通讯作者: 姚建涛(通信作者),男,1980年出生,教授。主要研究方向为机器人机构理论及多维力感知机构。E-mail:jtyao@ysu.edu.cn
  • 作者简介:陈新博,男,1993年出生,硕士研究生。主要研究方向为连续体机器人理论及应用。E-mail:1028778558@qq.com
  • 基金资助:
    国家自然科学基金(51675459)和河北省自然科学基金京津冀合作专项(E2017203387)资助项目。

Design and Motion Analysis of a Wheel-walking Bionic Soft Robot

YAO Jiantao1,2, CHEN Xinbo1, CHEN Juntao1, ZHANG Hong1, LI Haili1, ZHAO Yongsheng1,2   

  1. 1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
    2. Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University), Ministry of Education, Qinhuangdao 066004
  • Received:2018-06-04 Revised:2018-11-27 Online:2019-03-05 Published:2019-03-05

摘要: 基于自然界中弯曲蠕虫的运动原理,借鉴其结构特点,设计一种双腔结构的轮足式仿生蠕动软体机器人,利用硅橡胶材料的超弹性特征,通过在多气囊结构中充气挤压变形使软体机器人本体结构发生弯曲,周期性的充放气实现软体机器人的蠕动运动。引入轮足式设计,将软体机器人软体基体的蠕动运动转变为车轮的旋转运动,加快蠕动型机器人的运动速度,通过向软体基体双腔充入不同气压,实现大角度转弯。分析了蠕动机器人周期性的直线运动和转向运动过程,研究了机器人运动过程中的非线性力学特性,测试了软体基体双腔充气状态下变形量与气压的关系以及单腔状态下转弯角度与气压的关系,分析了软体机器人的最快行进速度和最小转弯半径,确定了软体机器人的运动性能。

关键词: 快速行进, 轮足式, 软体机器人, 运动研究

Abstract: Based on the movement model and the structural characteristics of worms, a bionic wheel-walking squirming soft robot with a double-cavity structure is proposed. The main body of the soft robot is made of hyperelastic silicon rubber, and its multi-air-bag structures would expand and extrude each other to bend the robot body when air at a certain pressure is pumped into the air bags. The inchworm-like peristaltic movement of the soft robot is realized by periodically charging and releasing air. In addition, the peristaltic motion of the soft robot is changed into rotational motion of the wheels to accelerate its moving speed because of the ingenious wheel-walking device. And a large angle turn can be achieved by fill the two chambers with air of different pressure. The periodic motion and steering movement of the squirming robot are analyzed. the nonlinear mechanical properties of the robot are studied. The relationship between the deformation and the pressure is tested when the two cavities are filled with air of same pressure. And the relationship the turning angle and the pressure is also tested when the single cavity is inflated. The maximum moving speed and the minimum turning radius of the soft robot are analyzed. Based on the results above, the motion performance of the soft robot is determined.

Key words: fast marching, locomotion study, soft robot, wheel-walking

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