中国机械工程2026，Vol.37Issue(5)：1095-1104,10.DOI:10.3969/j.issn.1004-132X.2026.05.009
基于纤维-气动耦合的变刚度蛇形机器人分层驱动器设计及其多步态研究
Design and Multi-gait Implementation of Layered Actuators Based on Fiber-Pneumatic Coupled Variable-stiffness Snake Robots
摘要
Abstract
To address the issues of wheeled snake robots,such as easy toppling and poor adaptability in complex terrains,a pneumatic snake robot with multiple gaits was proposed based on the principle of fi-ber interference variable stiffness.The robot used a triple-layer structure pneumatic actuator to dynamically adjust stiffness via air pressure.The modular design integrated components such as air pumps,electromag-netic valves,and unidirectional wheels.The experimental results show that the bending angle of the actua-tor is positively correlated with the air pressure.The design of dual-cavity combined with fiber reinforce-ment significantly enhances the load-bearing capacity.By coordinating the steering and load-bearing actua-tors,the robot may perform serpentine linear motion,C-shaped turns,and accordion-like motion,even crossing obstacles a third of the height.The modular structure reduces maintenance costs and supports rapid functional expansion.These findings offer an efficient actuation solution for wheeled soft snake ro-bots,and support applications in complex scenarios such as rescue and pipe inspection.关键词
蛇形机器人/气动/纤维干扰变刚度/多步态Key words
snake robot/pneumatic/fiber interference variable stiffness/multi-gait分类
信息技术与安全科学引用本文复制引用
穆俊齐,魏奕扬,侯旭萍,宗小峰..基于纤维-气动耦合的变刚度蛇形机器人分层驱动器设计及其多步态研究[J].中国机械工程,2026,37(5):1095-1104,10.基金项目
湖北省自然科学基金杰出青年项目(2022CFA041) （2022CFA041）
