Soft robot based on dual-mode deformation driving variable configuration

摘要

Currently, soft robots focus on single class actuators to form a certain configuration, and are unable to meet the requirements of variable environments by changing the configuration. In order to enhance the environmental adaptability of soft robots, variable configuration soft robots are proposed by combing the dual-mode deformation drive of contraction and bending, and a pneumatic control system driven by positive and negative pressure is utilized to realize various motion and manipulation. A contraction and bending deformation driving method of sponge-based matrix combined with constrained layers is proposed to design contraction deformation units constrained by opposing surfaces and bending deformation units constrained by opposing and bottom surfaces. Combing contraction de-formation units and bending deformation units, an inchworm-inspired crawling soft robot and a hand-foot fusion soft robot are constructed. A positive and negative pressure pneumatic control system combining negative pressure proportional valves and solenoid valves is proposed, which outputs negative pressure to actuate contraction deformation, bending de-formation, and suction cup adsorption, and similarly outputs positive pressure to control the rapid recovery of deformation units, realizing driving control of variable configuration soft robots. Through experiment on grasping, crawling, slopes climbing, turning, moving forward while turning, and pipe-climbing, the results demonstrate that inchworm-inspired crawling soft robot is able to crawl on a 23° slope and hand-foot fusion soft robot can grasp a 1.2 kg object, thereby verifying the environmental adaptability and functional fusion of variable configuration soft robots.