A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori
Abstract
:1. Introduction
2. Inspiration from Miura-Ori
2.1. Design of the Pneumatic Foldable Actuator
2.2. Theoretical Modeling of the PFA
2.3. Design of the Crawling Robot Composed of the Two PFAs
2.4. The Movement Patterns
3. Materials and Fabrication
4. Experiments and Results
4.1. The Pressure–Displacement and Volume–Pressure Curves
4.2. Determining the Working Pressure for the Crawling Robot
4.3. The Movement of the Crawling Robot
5. Conclusions and Future Work
Supplementary Materials
Author Contributions
Funding
Conflicts of Interest
References
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Parameters | Value |
---|---|
a | 10 mm |
b | 10 mm |
β | 60° |
α2 | 90° |
θ | 90° |
w | 7.07 mm |
l | 14.14 mm |
Parameters | Value |
---|---|
The length of the crawling robot l (mm) | 32 |
The width of the crawling robot d (mm) | 31 |
The height of the crawling robot e (mm) | 20 |
The thickness of the front and rear feet f (mm) | 3 |
The width of the front and rear feet g (mm) | 4 |
The height of the front and rear feet h (mm) | 4 |
Soft Crawling Robot | Actuation Method | Body Length (mm) | Turning Speed (°/s) | Linear Speed (mm/s) | LS/BL |
---|---|---|---|---|---|
Our robot | Pneumatic | 32 | ~15 | ~5 | ~0.15 |
Zou et al. [6] | Pneumatic | 154 | ~1.63 | ~5 | ~0.032 |
Qin et al. [13] | Pneumatic | 135 | 15.09 | 16 | 0.11 |
Wu et al. [14] | Pneumatic | ~110 | ~1.23 | 9.85 | 0.089 |
Tolley et al. [16] | Pneumatic | 650 | ~0.2 | ~5 | ~0.007 |
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Yu, M.; Yang, W.; Yu, Y.; Cheng, X.; Jiao, Z. A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori. Actuators 2020, 9, 26. https://doi.org/10.3390/act9020026
Yu M, Yang W, Yu Y, Cheng X, Jiao Z. A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori. Actuators. 2020; 9(2):26. https://doi.org/10.3390/act9020026
Chicago/Turabian StyleYu, Meng, Weimin Yang, Yuan Yu, Xiang Cheng, and Zhiwei Jiao. 2020. "A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori" Actuators 9, no. 2: 26. https://doi.org/10.3390/act9020026
APA StyleYu, M., Yang, W., Yu, Y., Cheng, X., & Jiao, Z. (2020). A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori. Actuators, 9(2), 26. https://doi.org/10.3390/act9020026