Affiliation:
1. Guangdong Key Laboratory of Precision Equipment and Manufacturing Technology, School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China
2. Shenzhen Polytechnic, Shenzhen 518055, China
Abstract
Abstract
Recently, soft pneumatic actuators (SPAs) have drawn increasing attention due to their ease of fabrication, high customizability, and intrinsic softness. Inspired by modular design, two kinds of SPAs, including an axial elongation soft pneumatic actuator (aeSPA) and a radial expansion soft pneumatic actuator (reSPA), are proposed in this paper, followed by their modeling, fabrication, and application in locomotion robots. The relationships between pressure and displacement of these SPAs are deduced based on the Yeoh model and the principle of virtual work, which has a good agreement with experimental results. Five modular worm-like crawling robots are fabricated by assembling the aeSPAs and reSPAs in different morphologies, and crawling tests are performed under different conditions to show the adaptivity of robots.
Funder
Guangzhou Science and Technology Program key projects
National Natural Science Foundation of China
Cited by
12 articles.
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