面向沙土环境的仿生软体机器人及交互力学模型

doi:10.12066/j.issn.1007-2861.2338

上海大学学报(自然科学版) ›› 2022, Vol. 28 ›› Issue (4): 608-618.doi: 10.12066/j.issn.1007-2861.2338

面向沙土环境的仿生软体机器人及交互力学模型

杨扬, 齐宇燕, 王舜, 赵永健, 钟宋义()

上海大学机电工程与自动化学院, 上海 200444

收稿日期:2021-06-22 出版日期:2022-08-30 发布日期:2022-08-29
通讯作者: 钟宋义 E-mail:zhongsongyi@shu.edu.cn
作者简介:钟宋义(1986—), 男, 讲师, 博士, 研究方向为柔性传感、自供能智能器件、3D 打印技术等. E-mail: zhongsongyi@shu.edu.cn
基金资助:
国家重点研发计划资助项目(2019YFB1703600);上海市科技创新行动计划资助项目(20DZ1207100)

Bionic soft-limb robot interaction model for sandy soil

YANG Yang, QI Yuyan, WANG Shun, ZHAO Yongjian, ZHONG Songyi()

School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China

Received:2021-06-22 Online:2022-08-30 Published:2022-08-29
Contact: ZHONG Songyi E-mail:zhongsongyi@shu.edu.cn

摘要/Abstract

摘要：

现有的沙土移动机器人大多采用刚性结构, 在复杂的工作环境中常常会发生打滑、沉陷、翻倒等问题, 缺乏良好的环境适应能力. 针对该问题设计了一种面向沙土环境的仿弹涂鱼气动软体机器人; 基于地面力学理论和软体机器人建模方法, 考虑机器人在沙土环境下的约束条件, 通过对软肢体与沙土间力学交互特性的分析, 建立了软肢体/机器人-沙土交互力学模型, 并构建了输入气压与机器人运动特性的关联; 通过实验验证了软体机器人-沙土交互力学模型的有效性和准确性. 实验结果表明, 该软体机器人具有环境适应性强、控制简单、柔顺性高等优点.

关键词: 沙土, 软肢体, 爬行, 机器人-沙土交互

Abstract:

Most existing sand mobile robots have rigid structures. In performing scientific activities in complex working environments, they often slip, sink, overturn, and experience other problems because of their lack of good environmental adaptability. To solve this problem, a pneumatic soft-limb robot simulating mudskipper in a sand environment is designed. Based on ground mechanics theory and soft-limb robot modeling, by considering the constraints of the robot in a sand environment and through an analysis of the mechanical interaction characteristics between the robot's soft limb and the sand, a soft-limb robot-sand interaction mechanical model is established. The relationship between the input air pressure and robot motion characteristics is also constructed. Finally, the validity and accuracy of the model are verified by experiments. The experimental results demonstrate that the soft-limb robot designed in this study has the advantages of strong environmental adaptability, simple control, and high flexibility.

Key words: sand: soft limb, crawling, robot-sand interaction

中图分类号:

TP242

杨扬, 齐宇燕, 王舜, 赵永健, 钟宋义. 面向沙土环境的仿生软体机器人及交互力学模型[J]. 上海大学学报(自然科学版), 2022, 28(4): 608-618.

YANG Yang, QI Yuyan, WANG Shun, ZHAO Yongjian, ZHONG Songyi. Bionic soft-limb robot interaction model for sandy soil[J]. Journal of Shanghai University（Natural Science Edition）, 2022, 28(4): 608-618.

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面向沙土环境的仿生软体机器人及交互力学模型

Bionic soft-limb robot interaction model for sandy soil

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