A soft crawling robot with multi-motion modes was proposed to improve the ability of adapting complex terrain.Firstly,the steering telescopic actuator and bending actuators of the soft crawling robot were designed using bellows made of polyethylene bellows and polypropylene respectively,and a prototype of the soft crawling robot was manufactured through casting molding and 3D printing technology.Secondly,the motion modes of the soft crawling robot,such as crawling along a straight line on the plane,steering on the plane and transitioning from one plane to one rod,were analyzed to obtain the motion gait law of the soft crawling robot.Thirdly,based on constant curvature assumption,the kinematics models of the actuators were established to study the relationship between pressure and elastic deformation of the actuators.Finally,through kinematics experiments,the correctness of the actuator kinematics model was verified,and the motion ability of the soft crawling robot in multi-mode was tested.
万方数据
维普
