Academic Journal
Soft Robot for Inspection Tasks Inspired on Annelids to Obtain Peristaltic Locomotion
| العنوان: | Soft Robot for Inspection Tasks Inspired on Annelids to Obtain Peristaltic Locomotion |
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| المؤلفون: | Diego E. Martinez-Sanchez, X. Yamile Sandoval-Castro, Nicolas Cruz-Santos, Eduardo Castillo-Castaneda, Maximiano F. Ruiz-Torres, Med Amine Laribi |
| المصدر: | Machines, Vol 11, Iss 8, p 779 (2023) |
| بيانات النشر: | MDPI AG, 2023. |
| سنة النشر: | 2023 |
| المجموعة: | LCC:Mechanical engineering and machinery |
| مصطلحات موضوعية: | soft crawling robot, bio-inspired robot, material characterization, peristaltic locomotion, pneumatic soft robot, Mechanical engineering and machinery, TJ1-1570 |
| الوصف: | Soft robotics is a rapidly advancing field that leverages the mechanical properties of flexible materials for applications necessitating safe interaction and exceptional adaptability within the environment. This paper focuses on developing a pneumatic soft robot bio-inspired in annelids or segmented worms. Segmentation, also called metamerism, increases the efficiency in body movement by allowing the effect of muscle contraction to generate peristaltic locomotion. The robot was built using elastomers by the casting technique. A sequence of locomotion based on two stages, relaxation and contraction, was proposed; the contraction stage is actuated by a vacuum pump. The locomotion performances are compared using different elastomers, such as Ecoflex 00-30, Dragon Skin 20, Mold Star 15 Slow, and Mold Star 30. Experimental tests were carried out inside a plexiglass pipe, 1 inch in diameter; a wide range of frequencies was tested for relaxation and contraction stages to evaluate the effect on the speed of the robot. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 11080779 2075-1702 |
| Relation: | https://www.mdpi.com/2075-1702/11/8/779; https://doaj.org/toc/2075-1702 |
| DOI: | 10.3390/machines11080779 |
| URL الوصول: | https://doaj.org/article/8f45bc2f99e04965846029215a575211 |
| رقم الانضمام: | edsdoj.8f45bc2f99e04965846029215a575211 |
| قاعدة البيانات: | Directory of Open Access Journals |
| تدمد: | 11080779 20751702 |
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| DOI: | 10.3390/machines11080779 |