Design And Experimental Research Of Soft Crawling Robot Based On High-frequency Vibration

Crawling robots are of great significance for replacing humans in dangerous environments.Rigid crawling robots generally have shortcomings such as large size,high stiffness and high noise.Compared with rigid robots,soft crawling robots have natural advantages,they have better interaction with the natural environment and humans.At present,there are more and more research results of soft crawling robots,but there are still problems such as slow crawling speed,low stability and little potential for functional applications.Therefore,improving the kinematic performance and functional application prospects of soft crawling robots is of great significance to the research of robots.In this paper,a soft crawling robot with simple structure and low cost is firstly fabricated.The robot components include elastic alloy,backplane and motor driver.Then,by changing the robot driving frequency,bristle length and stiffness and other parameters,the motion speed,load-to-weight ratio and climbing performance of the software robot were tested.The fastest moving speed was 123.1 mm/s,the maximum load-to-weight ratio was 10.8 and the maximum climbing slope is 18°.At the same time,the motion mechanism of the robot is explored,and its dynamic model is established by analyzing the force of the robot.The motion speed,center of gravity position and bristle motion law of the robot obtained by the model simulation are in good agreement with the experimental results,which verifies the accuracy of the model.In order to realize the functional application of the soft crawling robot,based on the robot model,this paper designs and manufactures a soft crawling robot that can pass through the narrow track.The robot has a high movement speed and a strong load capacity.The flexible strain sensor is prepared and attached to the surface of the robot flexible printed-circuit(FPC),and the shape measurement and reconstruction of different slit models are completed.Therefore,the robot has broad application prospects for the exploration of complex and unknown environments.