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

doi:10.3901/JME.2019.05.027

Abstract

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

CLC Number:

TG156

YAO Jiantao, CHEN Xinbo, CHEN Juntao, ZHANG Hong, LI Haili, ZHAO Yongsheng. Design and Motion Analysis of a Wheel-walking Bionic Soft Robot[J]. Journal of Mechanical Engineering, 2019, 55(5): 27-35.

References

[1] 王田苗,郝雨飞,杨兴帮,等. 软体机器人:结构、驱动、传感与控制[J]. 机械工程学报,2017,53(13):1-13. WANG Tianmiao,HAO Yufei,YANG Xingbang,et al. Soft robotics:Structure,actuation,sensing and control[J]. Journal of Mechanical Engineering,2017,53(13):1-13.
[2] 曹玉君,尚建忠,梁科山,等. 软体机器人研究现状综述[J]. 机械工程学报,2012,48(3):25-33. CAO Yujun,SHANG Jianzhong,LIANG Keshan,et al. A review on the soft robotics[J]. Journal of Mechanical Engineering,2012,48(3):25-33.
[3] RUS D,TOLLEY M T. Design,fabrication and control of soft robots[J]. Nature,2015,521(7553):467.
[4] FEI Y,PANG W. Analysis on nonlinear turning motion of multi-spherical soft robots[J]. Nonlinear Dynamics,2016,88(2):1-10.
[5] MARCHESE A D,ONAL C D,RUS D. Autonomous soft robotic fish capable of escape maneuvers using fluidic elastomer actuators[J]. Soft Robotics,2014,1(1):75.
[6] SFAKIOTAKIS M,KAZAKIDI A,TSAKIRIS D P. Octopus-inspired multi-arm robotic swimming[J]. Bioinspiration & Biomimetics,2015,10(3):035005.
[7] LIN H T,LEISK G G,TRIMMER B. GoQBot:A caterpillar-inspired soft-bodied rolling robot[J]. Bioinspiration & Biomimetics,2011,6(2):026007.
[8] NAKAMARU S,MAEDA S,HARA Y,et al. Development of novel self-oscillating gel actuator for achievement of chemical robot[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE,2009:4319-4324.
[9] SEOK S,ONAL C D,CHO K J,et al. Meshworm:A peristaltic soft robot with antagonistic nickel titanium coil actuators[J]. IEEE/ASME Transactions on Mechatronics,2013,18(5):1485-1497.
[10] SHEPHERD R F,ILIEVSKI F,CHOI W,et al. Multigait soft robot[J]. Proceedings of the National Academy of Sciences of the United States of America,2011,108(51):20400.
[11] MORIN S A,WHITESIDES G M. Camouflage and display for soft machines[J]. Science,2012,337(6096):828.
[12] MENCIASSI A,GORINI S,PERNORIO G,et al. A SMA actuated artificial earthworm[C]//IEEE International Conference on Robotics and Automation,2004,Proceedings ICRA. IEEE,2004:3282-3287.
[13] CHANG Y C,KIM W J. Aquatic ionic-polymer-metal-composite insectile robot with multi-DOF legs[J]. IEEE/ASME Transactions on Mechatronics,2013,18(2):547-555.
[14] JUNG K,KOO J C,NAM J D,et al. Artificial annelid robot driven by soft actuators[J]. Bioinspiration & Biomimetics,2007,2(2):S42.
[15] MAO S,DONG E,JIN H,et al. Gait study and pattern generation of a starfish-like soft robot with flexible rays actuated by SMAs[J]. Journal of Bionic Engineering,2014,11(3):400-411.
[16] 李铁风,李国瑞,梁艺鸣,等. 软体机器人结构机理与驱动材料研究综述[J]. 力学学报,2016,48(4):756-766. LI Tiefeng,LI Guorui,LIANG Yiming,et al. Review of materials and structures in soft robotics[J]. Chinese Journal of Theoretical and Applied Mechanics,2016,48(4):756-766.
[17] 费燕琼,庞武,于文博. 气压驱动软体机器人运动研究[J]. 机械工程学报,2017,53(13):14-18. FEI Yanqiong,PANG Wu,YU Wenbo. Movement of air-driven soft robot[J]. Journal of Mechanical Engineering,2017,53(13):14-18.
[18] 黄建龙,解广娟,刘正伟. 基于Mooney-Rivlin模型和Yeoh模型的超弹性橡胶材料有限元分析[J]. 橡胶工业,2008,55(8):467-471. HUANG Jianlong,XIE Guangjuan,LIU Zhengwei. The finite element analysis of super-elastic rubber material based on Mooney-Rivlin model and Yeoh model[J]. China Rubber Industry,2008,55(8):467-471.