Study On Movement And Structure Charcteristics Ofsoft Crawling Robot

The topic of research object is soft crawling robot,mainly for soft crawling robot structure,production process,material properties,friction characteristics,dynamic response characteristics,and the stress and strain characteristics,the main research object is four foot X robot and according to the problems of four foot X robot,and put forward six foot micro balloon robot,trying to improve the soft crawling robots performance.Through designing the structure of silicone rubber,making each part of the silicone rubber body's elastic modulus is different,in the process of filling the high pressure gas,soft robots directional bending,crawl and creep.Through static characteristic experiment and dynamic response experiment,try to analyze the characteristics of four-legged X robot.Combined with finite element simulation,Trying to analyze the four-legged X-robot.During the experiment,the robot local structure features softened phenomenon is founded,this kind of silicone damage mechanism is called the Mullins effect,the effect will lead to significant changes in the characteristics of the soft robot.The simulation results and the experimental results are in diffirent large.By using Mullins constitutive model in the simulation process,the matching degree between simulation results and experimental results can be improved.In order to solve the problems caused by Mullins effect on soft robot,the countermeasures are proposed.Soft crawling robot's moving forward force source is the friction with the ground,on the basis of the rubber friction theory,establish the mathematical model of friction,analysing the friction causes and control methods,so as to further guidance soft crawling robot gait planning,makes the movement is more efficient.This paper mainly analyzes the gait planning and friction characteristics of the soft crawling robot,based on the phenomenon of different movement conditions on different roads.Try to analyze the reason of the difference in motion effects.Four foot robot has some problems.in order to solve the existing problems,so that puts forward six foot type micro balloon software robots.This kind of robot can effectively solve the four foot robot's defects.This paper studies the structure and motion characteristics of a new type of flexible robot,which is based on the power of pneumatic.the crawling robot is the research object,the main content of the research is to analyze the motion mechanism and structure optimization of the pneumatic soft crawling robot.