Development and Analysis of Key Components of a Multi Motion Mode Soft-Bodied Pipe Robot

• DOI: 10.3390/act11050125
• Publication Date: 2022-04-29T20:49:57Z
• Authors: Ning Wang; Yu Zhang; Guofeng Zhang; Wenchuan Zhao; Linghui Peng
• Keywords: Hyperelastic material; Silicone rubber; Soft Robotics; Pneumatic actuator; Prism

In order to enhance the environmental adaptability of peristaltic soft-bodied pipe robots, based on nonlinear and hyperelastic characteristics silicone rubber combined with biological structure motion worms, a hexagonal prism bionic actuator is proposed. The adopts different inflation patterns produce deformations, so that robot can realize modes in pipeline. Based Yeoh binomial parameter constitutive model, deformation analysis model established, numerical simulation algorithm used ensure both drive mode are reasonable, theoretical accurate. dynamic prepared tested analyzed, characteristic curves obtained, empirical formula fitted. experimental results consistent result, which shows method accurate provide design methods reference basis for development pneumatic body actuator. above research also prove reasonable feasible.