Design and Motion Simulation of a Soft Robot for Crawling in Pipes
In recent years, soft pipeline robot, as a new concept, is proposed to adapt to tunnel. The soft pipeline robots are made of soft materials such as rubber or silicone. These materials have good elasticity, which enhance the adaptability of the soft pipeline robot. Therefore, the soft pipeline robot...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2023/5334604 |
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| _version_ | 1850219885667287040 |
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| author | Zhang Yu Huang Peiyu You Bo Yu Zhibin Li Dongjie Dong Guoqi |
| author_facet | Zhang Yu Huang Peiyu You Bo Yu Zhibin Li Dongjie Dong Guoqi |
| author_sort | Zhang Yu |
| collection | DOAJ |
| description | In recent years, soft pipeline robot, as a new concept, is proposed to adapt to tunnel. The soft pipeline robots are made of soft materials such as rubber or silicone. These materials have good elasticity, which enhance the adaptability of the soft pipeline robot. Therefore, the soft pipeline robot has better performance on deformability than rigid robot. However, the structure of tunnel is complex and varied that brought challenges on design structure of soft pipeline robot. In this paper, we propose soft pipeline robot with simple structure and easy fabrication, which can be realized straight, turning motion in a variety of tunnels with different diameters. The soft pipeline robot composed of two types of structure, which are expansion part and deformation part. Front and rear deformation part for bending and position fixation, and middle expansion part for elongation, so the pipeline soft robot can be moved in various structures of tunnels. Moreover, the locomotion ability and adaptability in tunnel are verified by simulating on software. The structure of chamber proposed in this paper can guide the design method of soft pipeline robot. |
| format | Article |
| id | doaj-art-762b5fa0cd034394909749ee9c38c7f8 |
| institution | OA Journals |
| issn | 1754-2103 |
| language | English |
| publishDate | 2023-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-762b5fa0cd034394909749ee9c38c7f82025-08-20T02:07:15ZengWileyApplied Bionics and Biomechanics1754-21032023-01-01202310.1155/2023/5334604Design and Motion Simulation of a Soft Robot for Crawling in PipesZhang Yu0Huang Peiyu1You Bo2Yu Zhibin3Li Dongjie4Dong Guoqi5School of Computer Science and TechnologyHeilongjiang Provincial Key Laboratory of Complex Intelligent System and IntegrationHeilongjiang Provincial Key Laboratory of Complex Intelligent System and IntegrationHeilongjiang Provincial Key Laboratory of Complex Intelligent System and IntegrationHeilongjiang Provincial Key Laboratory of Complex Intelligent System and IntegrationHeilongjiang Provincial Key Laboratory of Complex Intelligent System and IntegrationIn recent years, soft pipeline robot, as a new concept, is proposed to adapt to tunnel. The soft pipeline robots are made of soft materials such as rubber or silicone. These materials have good elasticity, which enhance the adaptability of the soft pipeline robot. Therefore, the soft pipeline robot has better performance on deformability than rigid robot. However, the structure of tunnel is complex and varied that brought challenges on design structure of soft pipeline robot. In this paper, we propose soft pipeline robot with simple structure and easy fabrication, which can be realized straight, turning motion in a variety of tunnels with different diameters. The soft pipeline robot composed of two types of structure, which are expansion part and deformation part. Front and rear deformation part for bending and position fixation, and middle expansion part for elongation, so the pipeline soft robot can be moved in various structures of tunnels. Moreover, the locomotion ability and adaptability in tunnel are verified by simulating on software. The structure of chamber proposed in this paper can guide the design method of soft pipeline robot.http://dx.doi.org/10.1155/2023/5334604 |
| spellingShingle | Zhang Yu Huang Peiyu You Bo Yu Zhibin Li Dongjie Dong Guoqi Design and Motion Simulation of a Soft Robot for Crawling in Pipes Applied Bionics and Biomechanics |
| title | Design and Motion Simulation of a Soft Robot for Crawling in Pipes |
| title_full | Design and Motion Simulation of a Soft Robot for Crawling in Pipes |
| title_fullStr | Design and Motion Simulation of a Soft Robot for Crawling in Pipes |
| title_full_unstemmed | Design and Motion Simulation of a Soft Robot for Crawling in Pipes |
| title_short | Design and Motion Simulation of a Soft Robot for Crawling in Pipes |
| title_sort | design and motion simulation of a soft robot for crawling in pipes |
| url | http://dx.doi.org/10.1155/2023/5334604 |
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