Finite Element Simulation Analysis of a Novel 3D-FRSPA for Crawling Locomotion

• DOI: 10.32604/cmes.2024.047364
• Publication Date: 2024-01-30T09:53:19Z
• Authors: Bingzhu Wang; Xiangrui Ye
• Keywords: Crawling; Pneumatic actuator; Soft Robotics

A novel three-dimensional-fiber reinforced soft pneumatic actuator (3D-FRSPA) inspired by crab claw and human hand structure that can bend deform independently in each segment is proposed. It has an omni-directional bending configuration, the fibers twined symmetrically on both sides to improve performance of FRSPA. In this paper, static kinematic analysis 3D-FRSPA are carried out detail. The effects fiber, chamber length, circular air radius mechanical discussed, respectively. mobile robot composed ability crawl. Finally, crawling processes different road conditions studied, respectively, motion mechanism shown. numerical results show robots have a good comprehensive performance, which verifies correctness proposed model. This work shows structures great potential complex conditions, unknown space detection other operations.