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Modeling and optimization of motion for inchworm-inspired magnetically driven soft robot

Published online by Cambridge University Press:  18 October 2023

Yue Di Open the ORCID record for Yue Di [Opens in a new window] ,
Yuyan Zhang ,
Yintang Wen  and
Yaxue Ren
Yue Di
Affiliation:
School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, China
Yuyan Zhang*
Affiliation:
School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, China Key Lab of Measurement Technology and Instrumentation of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, China
Yintang Wen
Affiliation:
School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, China Key Lab of Measurement Technology and Instrumentation of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004, China
Yaxue Ren
Affiliation:
School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, China
*
Corresponding author: Yuyan Zhang; Email: yyzhang@ysu.edu.cn
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Abstract

At present, the research of soft crawling robot pays more attention to the material manufacturing, but neglects the robot modeling. The high degree of freedom of the soft crawling robot makes it more difficult to establish its motion model and analyzes its motion performance. The centimeter-level wireless driven soft crawling robot has great advantages and application scenarios in narrow space exploration. Therefore, this paper proposed a soft robot driven by magnetism to crawling inchworm. By studying the crawling behavior of inchworm and the characteristics of flexible materials driven by magnetism, the structure of the soft robot was designed and the motion model of inchworm was established. The motion model is analyzed and simulated, the structure size of the robot is optimized, and the effectiveness of the model is verified by experiments. The robot’s crawling motion is realized by coupling the structure of the robot’s torso and legs with the flexible magnetic film. Driven by the alternating magnetic field, the maximum motion speed of the robot is 28.24 mm/s. At the same time, the robot can also move in narrow space such as pipes, which can satisfy the centimeter-level space detection and ensure the high efficiency, providing a new idea for narrow space detection.

Keywords

inchworm inspiredsoft robotmotion modelmagnetic drivestructure optimization
Type
Research Article
Information
Robotica , Volume 42 , Issue 1 , January 2024 , pp. 72 - 86
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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