A soft crawling robot driven by single twisted and coiled actuator

被引：59
|
作者：
Tang, Xintian [1 ]
Li, Kai [1 ]
Liu, Yingxiang [1 ]
Zhou, Dong [1 ]
Zhao, Jianguo [2 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Heilongjiang, Peoples R China
[2] Colorado State Univ, Dept Mech Engn, Ft Collins, CO 80523 USA
来源：
SENSORS AND ACTUATORS A-PHYSICAL | 2019年 / 291卷
基金：
中国国家自然科学基金;
关键词：
Soft robot; Crawling robot; Twisted and coiled actuator; Temperature control; DESIGN;
D O I：
10.1016/j.sna.2019.03.049
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A soft crawling robot driven by a single twisted and coiled actuator is proposed and tested. This robot has a small and simple structure which only weighs 9 g. Also, fabrication of this robot is very easy, materials used to make this robot are silicone, paper clips, fish line, and hot melt glue, which are easy to be obtained and the cost is very low. The mechanism of the proposed robot is discussed in detail: the robot has two special feet with the function of friction change and it uses the bending deformation of its soft body to make friction changes so that it crawls. The principle of the crawling step control is introduced. The fabrication progress of the robot is demonstrated, a prototype is fabricated to verify the mechanism and to test the crawling posture and speed. It crawls at a speed of 1.2 mm/s with only one twisted and coiled actuator (TCA). (C) 2019 Elsevier B.V. All rights reserved.
引用
收藏
页码：80 / 86
页数：7
相关论文
共 50 条
  • [1] A Twisted and Coiled Polymer Artificial Muscles Driven Soft Crawling Robot Based on Enhanced Antagonistic Configuration
    Wu, Chunbing
    Zhang, Zhuang
    Zheng, Wen
    [J]. MACHINES, 2022, 10 (02)
  • [2] A general soft robot module driven by twisted and coiled actuators
    Tang, Xintian
    Li, Kai
    Liu, Yingxiang
    Zhou, Dong
    Zhao, Jianguo
    [J]. SMART MATERIALS AND STRUCTURES, 2019, 28 (03)
  • [3] Single-Actuator Soft Robot for In-Pipe Crawling
    Lin, Ying
    Xu, Yi-Xian
    Juang, Jia-Yang
    [J]. SOFT ROBOTICS, 2023, 10 (01) : 174 - 186
  • [4] A robotic finger driven by twisted and coiled polymer actuator
    Cho, Kyeong Ho
    Song, Min-Geun
    Jung, Hosang
    Park, Jungwoo
    Moon, Hyungpil
    Koo, Ja Choon
    Nam, Jae-Do
    Choi, Hyouk Ryeol
    [J]. ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2016, 2016, 9798
  • [5] Design and fabrication of a crawling robot based on a soft actuator
    Li, Junfeng
    Chen, Songyu
    Sun, Minjie
    [J]. SMART MATERIALS AND STRUCTURES, 2021, 30 (12)
  • [6] A soft crawling robot with a modular design based on electrohydraulic actuator
    Kim, Sohyun
    Cha, Youngsu
    [J]. ISCIENCE, 2023, 26 (05)
  • [7] Super Stretchable Soft Actuator made of Twisted and Coiled Spandex Fiber
    Cho, Kyeong Ho
    Song, Min Geun
    Yang, Sang Yul
    Kim, Youngeun
    Jung, Hosang
    Moon, Hyungpil
    Koo, Ja Choon
    Nam, Jae-Do
    Choi, Hyouk Ryeol
    [J]. ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2017, 2017, 10163
  • [8] Double Helix Twisted and Coiled Soft Actuator from Spandex and Nylon
    Kim, Kihyeon
    Cho, Kyeong Ho
    Jung, Ho Sang
    Yang, Sang Yul
    Kim, Youngeun
    Park, Jae Hyeong
    Jang, Hoyoung
    Nam, Jae-Do
    Koo, Ja Choon
    Moon, Hyungpil
    Suk, Ji Won
    Rodrigue, Hugo
    Choi, Hyouk Ryeol
    [J]. ADVANCED ENGINEERING MATERIALS, 2018, 20 (11)
  • [9] A Lightweight and Multimotion Crawling Tensegrity Robot Driven by Twisted Artificial Muscles
    Zhou, Dong
    Liu, Yingxiang
    Tang, Xintian
    Sun, Jin
    Deng, Jie
    [J]. AMERICAN JOURNAL OF CLINICAL NUTRITION, 2021, : 11447 - 11457
  • [10] A Lightweight and Multimotion Crawling Tensegrity Robot Driven by Twisted Artificial Muscles
    Zhou, Dong
    Liu, Yingxiang
    Tang, Xintian
    Sun, Jin
    Deng, Jie
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2022, 69 (11) : 11447 - 11457
12345