Research On The Performance Of Continuous Steering Self-growing Soft Robots Imitating Vine Plants

The lunar exploration project is one of the important projects for the development of aerospace science and technology.Compared with the earth,the lunar has more ideal scientific research conditions and richer resources in the field of astronomical observations and other fields;therefore,it is suitable for establishing a station to get data of the earth.So,it is of great scientific significance to accurately detect,accurately obtain the topography of the lunar surface,and collect lunar surface soil samples in different environments for analysis.The lunar has many craters and narrow and complex spaces,such as some deep ravines,and its surface is rugged and loose,which brings great challenges to lunar exploration.Therefore,it is urgent to research a device that can accurately detect the complex environment of the lunar surface.The soft mobile robots with the characteristics of flexibility,flexible movement,and good environmental compatibility have potential advantages in the detection of the narrow and complex environment on the surface of the lunar.Based on the analysis of the driving mechanism and characteristics of various soft mobile robots,this paper proposes a continuous steering self-growing soft robot design method imitating vine plants,and conducts research on functional structure design,motion behavior analysis,and performance testing.Firstly,the functional structure of the continuous steering self-growing soft robot is designed.Based on the macroscopic growth mechanism of vine plants,the principle of upright growth and continuous curved steering growth of self-growing soft robots are analyzed,and the robotic system and steering joint motion module of self-growing soft robots are designed.In order to better adapt to the detection task,this paper also designs the load device at the end of the soft robot.Secondly,according to the characteristics of continuous steering of the self-growing soft robot,this paper studies its motion behavior.The kinematic characteristics of the steering joint are analyzed based on a constant curvature theoretical model,and a kinematic model of a four-segment steering joint self-growing soft robot is established to analyze the reachable working when growing and continuous steering.By analyzing the bending driving performance of the steering joint,the initial bending moment of the wrinkle is obtained.Finally,the performance testes of the continuous steering self-growing soft robot are carried out.Motion control system of the self-growing soft robot is built.And,according to the Control Volume Method,the upright growth of the steering joint and the continuous bending steering performance are simulated and tested to verify the correctness of the structural design and theoretical analysis.To study its continuous growth detection performance under obstacle environment,the multi-morphology transformation performance of continuous steering self-growing soft robot is tested.