Locomotion patterns of a vermicular robot

摘要

Microbionic robots are used to access small tedious spaces with high maneuverability. These robots are employed in surveying and inspection of pipelines as well as tracking and examination of animal or human body during surgical activities. Relatively bigger and powerful robots are used for searching people trapped under wreckages and dirt after disasters. In order to achieve high maneuverability and to tackle various critical scenarios, a novel design of multi-segment Vermicular Robot is proposed with an adaptable actuation mechanism. Owing to the 3 Degrees of freedom (Dof) actuation mechanism, it will not only have faster forward motion but its full hemispherical turning capability would allow the robot to sharply steer as well as lift with smaller radii. The Robot will have the capability to simultaneously follow peristaltic motion (elongation/retraction) as well as looper motion (lifting body up/down). The paper presents locomotion patterns of the Vermicular Robot having Canfield actuation mechanism and highlights various scenarios in order to avoid obstacles en-route.