Out-Pipe Climbing Soft Robot with Omnidirectional Actuator
2020 3rd World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)（2020）
Abstract
In this paper, design and testing of a novel pneumatic out-pipe climbing soft robot is presented. Made with silicone, the soft robot weighs about 200 g. Based on an omnidirectional bending actuator, a new motion mode is developed which enables the soft robot to climb vertical pipes with diameters between 110 mm and 160 mm. Static tests and dynamic tests are conducted on two different actuators to ...
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Key words
Actuators,Dynamics,Soft robotics,Bending,Pulse width modulation,Manufacturing,Mechanical engineering
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