Design and Actuation of a Fabric-Based Worm-Like Robot †
| العنوان: | Design and Actuation of a Fabric-Based Worm-Like Robot † |
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| المؤلفون: | Akhil Kandhari, Anna Mehringer, Kathryn A. Daltorio, Hillel J. Chiel, Roger D. Quinn |
| المصدر: | Biomimetics Biomimetics, Vol 4, Iss 1, p 13 (2019) Volume 4 Issue 1 |
| بيانات النشر: | MDPI, 2019. |
| سنة النشر: | 2019 |
| مصطلحات موضوعية: | soft robotics, 0209 industrial biotechnology, Computer science, fabric-based robot, Biomedical Engineering, Soft robotics, Mechanical engineering, Bioengineering, 02 engineering and technology, Biochemistry, lcsh:Technology, Article, Biomaterials, 020901 industrial engineering & automation, medicine, business.industry, lcsh:T, Stiffness, Modular design, 021001 nanoscience & nanotechnology, worm-like robot, Molecular Medicine, Robot, medicine.symptom, 0210 nano-technology, business, Biotechnology |
| الوصف: | Soft-bodied animals, such as earthworms, are capable of contorting their body to squeeze through narrow spaces, create or enlarge burrows, and move on uneven ground. In many applications such as search and rescue, inspection of pipes and medical procedures, it may be useful to have a hollow-bodied robot with skin separating inside and outside. Textiles can be key to such skins. Inspired by earthworms, we developed two new robots: FabricWorm and MiniFabricWorm. We explored the application of fabric in soft robotics and how textile can be integrated along with other structural elements, such as three-dimensional (3D) printed parts, linear springs, and flexible nylon tubes. The structure of FabricWorm consists of one third the number of rigid pieces as compared to its predecessor Compliant Modular Mesh Worm-Steering (CMMWorm-S), while the structure of MiniFabricWorm consists of no rigid components. This article presents the design of such a mesh and its limitations in terms of structural softness. We experimentally measured the stiffness properties of these robots and compared them directly to its predecessors. FabricWorm and MiniFabricWorm are capable of peristaltic locomotion with a maximum speed of 33 cm/min (0.49 body-lengths/min) and 13.8 cm/min (0.25 body-lengths/min), respectively. |
| وصف الملف: | application/pdf |
| اللغة: | English |
| تدمد: | 2313-7673 |
| الوصول الحر: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b95b50c1490404ad08559e8581485cc8Test http://europepmc.org/articles/PMC6477625Test |
| حقوق: | OPEN |
| رقم الانضمام: | edsair.doi.dedup.....b95b50c1490404ad08559e8581485cc8 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 23137673 |
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