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相关实验视频

Updated: Jun 20, 2025

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
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灵感来自虫的,不受束的,软爬行机器人用于管道检查.

Yunwei Zhao1, Haoran Huang1, Weizhe Yuan2

  • 1School of Mechanical Engineering, Beihua University, Jilin, China.

Soft robotics
|July 17, 2024
PubMed
概括

本研究介绍了一种用于管道检查的自主软机器人. 它使用气动执行器进行移动和定,从而实现自主导航和在管道中移除障碍物.

关键词:
生物启发的机器人技术模块化设计是一个模块化设计.软气动驱动器是一种软气动驱动器.软机器人 软机器人 软机器人管状机器人是一种管状机器人.没有绑定的机器人灵感来自虫的机器人

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 机械工程 机械工程
  • 材料科学 材料科学 材料科学

背景情况:

  • 基础设施维护需求的增加推动了对先进检查机器人的需求.
  • 现有的机器人缺乏灵活性和适应性,无法适应复杂的管道环境.

研究的目的:

  • 开发一个自主软机器人,用于导航和检查管道.
  • 提高机器人的移动性,适应性和承载能力,在狭窄的空间.

主要方法:

  • 设计了一个软机器人,配备了延伸式气动执行器 (EPA) 机身和辐射扩展式气动执行器 (REPA) 来进行粘附.
  • 实施了一套集成的气动和电气控制系统,用于同步移动和定.
  • 开发了一种新的控制策略,用于协调身体变形和腿部定.

主要成果:

  • 实现了1.27mm/s的水平速度和0.39mm/s的垂直上升.
  • 证明的固强度>100 N,垂直推进力为43.8 N,曲线管道拉力为31.4 N.
  • 成功地携带了一台摄像头来查看内部管道,并自主移除障碍物.

结论:

  • 开发的软机器人可以在管道中提供不受约束的自主导航.
  • 它的先进移动性和功能为基础设施检查和维护开辟了新的可能性.
  • 这种无软机器人代表了机器人检查能力的重大进步.