| In recent years,all kinds of biomimetic soft robots begin to appear and be applied in many areas with the development of robotics technology.The study of soft robot is stimulated by soft bodied animals.Soft robot can overcome the short comings of rigid body robot and have good environment adaptability and safety.Soft crawling robot is one of the main areas of soft robot research.It can make locomotion by simulating movements of soft bodied animals,pass through small space,and resist environment impact which other movement can't realize.The aim of this research is to lay foundation for future robot development by studying the soft actuator and its application in soft crawling robot.In this dissertation,the pneumatic soft actuator was studied firstly.According to the normally pneumatic soft actuators,several soft actuators which can realize unidirectional bending,bidirectional bending and stretching are proposed.Three types of soft actuators were made through 3D printed mold with room temperature double component silicone rubber material.Experiments were carried to test the characteristics of the soft actuator.Results show that the soft actuator can realize large deformation.By theoretical analyzing and with the help of ABAQUS,the finite element analyzing software,the model and characteristics of the soft actuator are got and simulated.Secondly,after analyzing the serpentine,peristalsis and inchworm crawling,three basic structures of crawling robots were proposed,and their mechanics of crawling were analyzed.Based on the designed soft actuators,several crawling prototype robots which can realize peristalsis are designed and made.Finally,experiments were carried on the soft crawling robots under different conditions.Results show that,the crawling robots can move forward and backward,or can pass through narrow tunnel by way of special control mode.The research validated the proposed soft crawling robots and provides experience and foundation for further soft robot development. |
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