机电工程技术2025，Vol.54Issue(13)：64-67,101,5.DOI:10.3969/j.issn.1009-9492.2025.13.010
基于多腔室的仿尺蠖软体机器人设计与制造
Design and Manufacturing of Multi-chambered Based Soft Robot Imitating Inchworm
摘要
Abstract
The soft biomimetic robot has the characteristics of variable shape and strong adaptability.Based on Inchworm motion law and soft robot technology,a soft robot based on multi-chamber is designed.According to the shape characteristics of inchworm,a 3D model of soft robot is established.Two independent control cavities are evenly distributed inside the robot to realize the forward and backward movement of the robot respectively.The strength of the robot is checked by finite element simulation of the hyper-elastic model in Abaqus.The prototype of the soft robot is prepared and the verification experiment is carried out.The experimental results show that the Inchworm robot ccn realize point movement and creep under 70 kPa.The step distance of point crawling is 21 mm,and the step distance of creep crawling is 11mm.The inchworm software robot designed can realize a variety of motion functions such as point movement and creep,which has certain reference value for the further research of software bionic robot.关键词
尺蠖/软体机器人/点动/蠕动Key words
inchworm/soft robot/point/creep分类
信息技术与安全科学引用本文复制引用
周燕飞..基于多腔室的仿尺蠖软体机器人设计与制造[J].机电工程技术,2025,54(13):64-67,101,5.基金项目
河南省高等学校重点科研项目(23B630024) （23B630024）
