Soft Robot for Inspection Tasks Inspired on Annelids to Obtain Peristaltic Locomotion
نویسندگان
چکیده
Soft robotics is a rapidly advancing field that leverages the mechanical properties of flexible materials for applications necessitating safe interaction and exceptional adaptability within environment. This paper focuses on developing pneumatic soft robot bio-inspired in annelids or segmented worms. Segmentation, also called metamerism, increases efficiency body movement by allowing effect muscle contraction to generate peristaltic locomotion. The was built using elastomers casting technique. A sequence locomotion based two stages, relaxation contraction, proposed; stage actuated vacuum pump. performances are compared different elastomers, such as Ecoflex 00-30, Dragon Skin 20, Mold Star 15 Slow, 30. Experimental tests were carried out inside plexiglass pipe, 1 inch diameter; wide range frequencies tested stages evaluate speed robot.
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ژورنال
عنوان ژورنال: Machines
سال: 2023
ISSN: ['2075-1702']
DOI: https://doi.org/10.3390/machines11080779