Pneumatic earthworm-like soft robot
A robot and software technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems that soft robots are not suitable for crawling, etc., and achieve the effect of radial expansion, high movement efficiency and stable crawling mode
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Embodiment 1
[0040] like Image 6 It is the gait cycle diagram of the soft robot plane crawling, the crawling direction is leftward crawling, and the fast plane crawling is realized through the high-speed cyclic crawling cycle. The specific driving methods are as follows:
[0041] (1) In the first stage, ventilate the elastic outer cavity of each segment to make it have a certain rigidity without large deformation.
[0042](2) In the process from the first stage to the second stage, the axial drivers of the segmental units 10 and 9 are ventilated, and at the same time, the elastic outer cavity is deflated, so that it pushes the segmental unit 11 to elongate to the left, and keeps the left end of the robot Do not move.
[0043] (3) In the process from the second stage to the third stage, ventilate the axial driver of the node unit 8 and vent the elastic outer cavity, and at the same time ventilate the axial driver of the node unit 10 and ventilate the elastic outer cavity, so that the ext...
Embodiment 2
[0046] like Figure 7 The gait cycle diagram of the soft robot crawling in the pipeline, the crawling direction is to the left, and the fast pipeline crawling is realized through the high-speed cyclic crawling cycle. The specific crawling methods are as follows:
[0047] (1) In the process from the first stage to the second stage, ventilate the elastic outer cavity of the segmental unit 12 to make it expand radially, thereby increasing the frictional force between the segmental unit and the pipe wall.
[0048] (2) During the process from the second stage to the third stage, ventilate the axial drivers of the segment units 13, 14, 15 to make them extend axially and contract radially. Since the friction force on the left side of the robot is greater than that on the right end, the robot elongates to the right.
[0049] (3) In the process from the third stage to the fourth extreme, the elastic outer cavity of the segmental unit 13 is ventilated to cause a large radial expansion...
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