Design and motion performance analysis of a soft-bodied robot with dual motion modes

Jiabao Li; Yangjie Qi; Chengjun Wang

doi:10.1117/12.3010601

1 December 2023 Design and motion performance analysis of a soft-bodied robot with dual motion modes

Jiabao Li, Yangjie Qi, Chengjun Wang

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 1294021 (2023) https://doi.org/10.1117/12.3010601
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

In this study, a soft robot with dual movement modes was designed to address the problem of pneumatic soft robots having a “tail,” limited movement, and a single movement mode. Inspired by the movement pattern of the catapult and the crawling gait of the tortoise, the design of the soft robot with dual movement modes was completed, including the crawling mechanism, jumping mechanism, and overall mechanism. For the crawling mechanism, a mathematical model of the deformation of the crawling drive was established using the Yeoh model and the principle of virtual work, and the factors affecting the deformation of the crawling drive were analyzed. The deformation of the crawling drive was simulated and analyzed using ABAQUS, and the relationship between air pressure, size of the drive, and deformation of the drive was investigated. For the jumping mechanism, the energy storage mechanism was analyzed in terms of energy storage and drive air pressure, and ADAMS was used to explore the jumping performance of the soft robot under different energy storage conditions for simulation analysis. The results revealed that the proposed design allows the robot to crawl and jump at the same time and removes the “tail” of the pneumatic soft robot, thereby improving its range of motion.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Jiabao Li, Yangjie Qi, and Chengjun Wang "Design and motion performance analysis of a soft-bodied robot with dual motion modes", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 1294021 (1 December 2023); https://doi.org/10.1117/12.3010601

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
11 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Deformation

Elasticity

Actuators

Gait analysis

Design and modelling

Mathematical modeling

Control systems

Show All Keywords

Keywords/Phrases

Search In:

Publication Years