An Extendable and Deflectable Modular Robot Inspired by Worm for Narrow Space Exploration
Inspired by earthworm peristalsis, a novel modular robot suitable for narrow spaces is proposed, capable of elongation, contraction, deflection and crawling. Unlike motor-driven robots, the earthworm-inspired robot achieves extension and deflection in each module through “on–off” control of the SMA...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-02-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/2/94 |
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| author | Shufeng Tang Jianan Yao Yue Yu Guoqing Zhao |
| author_facet | Shufeng Tang Jianan Yao Yue Yu Guoqing Zhao |
| author_sort | Shufeng Tang |
| collection | DOAJ |
| description | Inspired by earthworm peristalsis, a novel modular robot suitable for narrow spaces is proposed, capable of elongation, contraction, deflection and crawling. Unlike motor-driven robots, the earthworm-inspired robot achieves extension and deflection in each module through “on–off” control of the SMA springs, utilizing the cooperation of mechanical skeletons and gears to avoid posture redundancy. The return to the initial posture and the maintenance of the posture are achieved through tension and torsion springs. To study the extension and deflection characteristics, we established a model through kinematic and force analysis to estimate the relationship between the length change and tensile characteristics of the SMA on both sides and the robot’s extension length and deflection angle. Through model verification and experiments, the robot’s extension, deflection and movement characteristics in narrow spaces and varying curvature narrow spaces were comprehensively studied. The results show that the earthworm-inspired robot, as predicted by the model, possesses accurate extension and deflection performance, and can perform inspection tasks in complex and narrow space environments. Additionally, compared to motor-driven robots, the robot designed in this study does not require insulation in low-temperature environments, and the cold conditions can improve its movement efficiency. This new configuration design and the extension and deflection characteristics provide valuable insights for the development of new modular robots and robot drive designs for extremely cold environments. |
| format | Article |
| id | doaj-art-944c0d9e5cc94db0b58c1964d4112dc4 |
| institution | DOAJ |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-944c0d9e5cc94db0b58c1964d4112dc42025-08-20T03:11:18ZengMDPI AGActuators2076-08252025-02-011429410.3390/act14020094An Extendable and Deflectable Modular Robot Inspired by Worm for Narrow Space ExplorationShufeng Tang0Jianan Yao1Yue Yu2Guoqing Zhao3College of Science, Inner Mongolia University of Technology, No. 49, AiminRoad, Hohhot 010051, ChinaCollege of Science, Inner Mongolia University of Technology, No. 49, AiminRoad, Hohhot 010051, ChinaAVIC Beijing Precision Engineering Institute for Aircraft Industry, Aviation Industry Corporation of China, Ltd., No. 5, NanyuanRoad, Beijing 100076, ChinaCollege of Science, Inner Mongolia University of Technology, No. 49, AiminRoad, Hohhot 010051, ChinaInspired by earthworm peristalsis, a novel modular robot suitable for narrow spaces is proposed, capable of elongation, contraction, deflection and crawling. Unlike motor-driven robots, the earthworm-inspired robot achieves extension and deflection in each module through “on–off” control of the SMA springs, utilizing the cooperation of mechanical skeletons and gears to avoid posture redundancy. The return to the initial posture and the maintenance of the posture are achieved through tension and torsion springs. To study the extension and deflection characteristics, we established a model through kinematic and force analysis to estimate the relationship between the length change and tensile characteristics of the SMA on both sides and the robot’s extension length and deflection angle. Through model verification and experiments, the robot’s extension, deflection and movement characteristics in narrow spaces and varying curvature narrow spaces were comprehensively studied. The results show that the earthworm-inspired robot, as predicted by the model, possesses accurate extension and deflection performance, and can perform inspection tasks in complex and narrow space environments. Additionally, compared to motor-driven robots, the robot designed in this study does not require insulation in low-temperature environments, and the cold conditions can improve its movement efficiency. This new configuration design and the extension and deflection characteristics provide valuable insights for the development of new modular robots and robot drive designs for extremely cold environments.https://www.mdpi.com/2076-0825/14/2/94modularbionic robotnarrow spaceextremely cold environment |
| spellingShingle | Shufeng Tang Jianan Yao Yue Yu Guoqing Zhao An Extendable and Deflectable Modular Robot Inspired by Worm for Narrow Space Exploration Actuators modular bionic robot narrow space extremely cold environment |
| title | An Extendable and Deflectable Modular Robot Inspired by Worm for Narrow Space Exploration |
| title_full | An Extendable and Deflectable Modular Robot Inspired by Worm for Narrow Space Exploration |
| title_fullStr | An Extendable and Deflectable Modular Robot Inspired by Worm for Narrow Space Exploration |
| title_full_unstemmed | An Extendable and Deflectable Modular Robot Inspired by Worm for Narrow Space Exploration |
| title_short | An Extendable and Deflectable Modular Robot Inspired by Worm for Narrow Space Exploration |
| title_sort | extendable and deflectable modular robot inspired by worm for narrow space exploration |
| topic | modular bionic robot narrow space extremely cold environment |
| url | https://www.mdpi.com/2076-0825/14/2/94 |
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