Author:
Wu Chunbing,Zhang Zhuang,Zheng Wen
Abstract
Twisted and coiled polymer (TCP) actuators are becoming increasingly prevalent in soft robotic fields due to their powerful and hysteresis-free stroke, large specific work density, and ease of fabrication. This paper presents a soft crawling robot with spike-inspired robot feet which can deform and crawl like an inchworm. The robot mainly consists of two leaf springs, connection part, robot feet, and two TCP actuators. A system level model of a soft crawling robot is presented for flexible and effective locomotion. Such a model can offer high-efficiency design and flexible locomotion of the crawling robot. Results show that the soft crawling robot can move at a speed of 0.275 mm/s when TCP is powered at 24 V.
Funder
National Natural Science Foundation of China
Natural Science Foundation of Shanghai
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering
Cited by
14 articles.
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