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Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

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Published on: June 10, 2020

Design of a Fuel Explosion-Based Chameleon-Like Soft Robot Aided by the Comprehensive Dynamic Model.

Haiqin Zhou¹, Shunze Cao², Shuailong Zhang³

¹Department of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.

Cyborg and Bionic Systems (Washington, D.C.)

|March 20, 2023

Summary

This summary is machine-generated.

This study introduces an explosion-based soft robot for rapid linear motion, overcoming limitations of traditional soft robots. The developed dynamic model accurately predicts performance, achieving 41-mm axial extension with a 1.5% error rate.

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Area of Science:

Robotics
Mechanical Engineering
Materials Science

Background:

Soft robots excel at bending but struggle with rapid, long-distance linear motion.
Existing actuation systems limit speed and range for linear movement in soft robots.

Purpose of the Study:

To propose a novel explosion-based soft robot for fast axial extension.
To develop a dynamic model for predicting the robot's performance.
To experimentally validate the proposed robot and model.

Main Methods:

Designed an explosion-based actuation system for axial extension.
Developed a dynamic model accounting for working fluid changes and combustion factors.
Conducted experiments on a physical prototype to test performance and validate the model.

Main Results:

The explosion-based soft robot achieved rapid axial extension.
A displacement of 41 mm was reached with 180 mg of fuel.
The dynamic model demonstrated high accuracy with an average error of 1.5%.

Conclusions:

The novel explosion-based soft robot effectively generates rapid axial extension.
The validated dynamic model accurately predicts performance.
This approach offers a promising solution for high-power density explosion-based soft robots.