Fan Jizhuang, Wang Shuqi, Yu Qingguo, Zhu Yanhe
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.
Soft Robot. 2020 Oct;7(5):615-626. doi: 10.1089/soro.2019.0094. Epub 2020 May 13.
This article presents a frog-inspired swimming soft robot whose joints are articulated pneumatic soft actuators. The soft actuator is designed and prepared by studying the biological structure and limb movement characteristics of frogs. A schematic limb motion diagram of the robot is established based on the kinematic model, and the design scheme is determined by a combined control system. The torso size is 0.175 × 0.100 × 0.060 m, which realizes frog-inspired swimming robot miniaturization. The experimental results show that the average propulsion speed during linear motion is 0.075 m/s, and the average turning speed is 15°/s. The rationality of the robot structural design and correctness of the control system are verified by prototype experiments.
本文介绍了一种受青蛙启发的游泳软体机器人，其关节为铰接式气动软体致动器。通过研究青蛙的生物结构和肢体运动特征来设计和制备软体致动器。基于运动学模型建立了机器人肢体运动示意图，并通过组合控制系统确定了设计方案。躯干尺寸为0.175×0.100×0.060米，实现了受青蛙启发的游泳机器人小型化。实验结果表明，直线运动时的平均推进速度为0.075米/秒，平均转弯速度为15°/秒。通过原型实验验证了机器人结构设计的合理性和控制系统的正确性。
