Multi-Mode Motion Analysis of Modular Soft Robot

doi:10.7652/xjtuxb202003016

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Multi-Mode Motion Analysis of Modular Soft Robot

更新时间：2025-07-09

- Multi-Mode Motion Analysis of Modular Soft Robot
- Vol. 54, Issue 3, Pages: 126-133(2020)
- 作者机构：
  
  上海交通大学机器人研究所,上海,200240
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202003016
  CLC： TP242
- Online First：10 March 2020，
  
  Published：2020
- 稿件说明：
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Multi-Mode Motion Analysis of Modular Soft Robot[J]. 2020, 54(3): 126-133.
DOI：

Multi-Mode Motion Analysis of Modular Soft Robot[J]. 2020, 54(3): 126-133. DOI： 10.7652/xjtuxb202003016.

摘要

为了探讨模块化软体机器人驱动模式多样性对实现有效运动的影响

设计了一个6模块软体爬行机器人

并进行了多模式运动分析。使用差动运动模块设计了一个通过前进波在机体上的传递实现运动的机器人; 分析了爬行过程中充放气模块的受力状态和充放气模块位置间隔之间的关系

得出了满足充气时模块获取的运动量、放气时模块向前传递运动量这一单向运动必要条件的位置间隔关系式

依据该模型得到了6模块机器人的10种可行运动模式; 采用集中质量法对机器人建立拉格朗日动力学模型

通过ADAMS仿真验证了不同驱动模式的可驱动性; 通过实验验证了机器人的可行运动模式并得出了不同模式下的运动速度。研究结果表明:使用充放气模块位置间隔关系公式来分析模块化爬行机器人运动模式可行且准确; 多模块软体机器人具有丰富的运动模式

依据驱动模式的不同即可实现运动速度的变化; 通过选用高效的运动模式A1D2

多模块机器人可实现最大运动速度13.2 mm/s。

Abstract

To investigate the influence of driving pattern of the modular soft robot on the oneway advancement

a six-module soft crawling robot is designed and the multi-mode motions are discussed. The six-module soft crawling robot is designed by connecting differential drive modules in serial which can move forward by transmitting traveling waves on the body. Analy-ing the relationship between the force state of inflating or deflating modules and their position interval during crawling process

the position interval model is obtained

which meets the necessary condition of one-way advancement

where the module gains advancement as inflating and the movement is transmitted forward as deflating. And 10 feasible motion modes are elicited by consulting the model. The Lagrangian dynamics model is established by taking advantage of lumped mass method

and the feasibility of the motion modes is verified by simulation in ADAMS. The feasible motion modes of the robot are verified by experiments and the

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