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Erschienen in:
2017 | OriginalPaper | Buchkapitel
A Rigid and Soft Combined Robot that Is Designed to Be Used in Confined Spaces
verfasst von : Xingsong Wang, Mengqian Tian, Jianfei Chen, Xiang Li, Yu Xiao
Erschienen in: Robot Intelligence Technology and Applications 4
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Abstract
This article describes a rigid and soft combined robot that is designed to be used in confined spaces. The robot is based on pneumatically actuated peristaltic motion. This motion is accomplished by the use of a pair of pneumatic annular grippers in concert with a novel pneumatic soft actuator. The actuator is capable of actuation and it is made of soft material. So it can passively adapt to the outside passage, with this characteristic the robot can navigate through some constrained environments that would otherwise be inaccessible with conventional rigid actuators. The annular grippers consist of six scissor structures wrapped around the cylinder which can dramatically increase the maximum diameter of the grippers. So the robot can adapt its shape to external constraints and obstacles. The robot also contains a 2-DOF pneumatic soft joint that promises the robot capable of changing its direction actively.