Design and Motion Analysis of a Soft-Limb Robot Inspired by Bacterial Flagella

Author:

Ye Changlong1,Liu Zhanpeng1,Yu Suyang1,Fan Zifu2,Wang Yinchao1

Affiliation:

1. School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang 110136, China

2. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 569830, Singapore

Abstract

Soft robots demonstrate an impressive ability to adapt to objects and environments. However, current soft mobile robots often use a single mode of movement. This gives soft robots good locomotion performance in specific environments but poor performance in others. In this paper, we propose a leg–wheel mechanism inspired by bacterial flagella and use it to design a leg–wheel robot. This mechanism employs a tendon-driven continuum structure to replicate the bacterial flagellar filaments, while servo and gear components mimic the action of bacterial flagellar motors. By utilizing twisting and swinging motions of the continuum structure, the robot achieves both wheeled and legged locomotion. The paper provides comprehensive descriptions and detailed kinematic analysis of the mechanism and the robot. To verify the feasibility of the robot, a prototype was implemented, and experiments were performed on legged mode, wheeled mode, and post-overturning motion. The experimental results demonstrate that the robot can achieve legged and wheeled motions. Moreover, it is also demonstrated that the robot still has mobility after overturning. This expands the applicability scenarios of the current soft mobile robot.

Funder

Liaoning Provincial Nature Foundation

National Natural Science Foundation of China

Liaoning Provincial Education Department Fund—“Seedling Raising” Project for Young Scientific and Technological Talents

Publisher

MDPI AG

Subject

Molecular Medicine,Biomedical Engineering,Biochemistry,Biomaterials,Bioengineering,Biotechnology

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