Research and Implementation of Pneumatic Amphibious Soft Bionic Robot
Abstract
:1. Introduction
2. Research on Propulsion Mechanism of Biological Prototype
2.1. Inchworm
2.1.1. Structure Characteristics
2.1.2. Motion Mechanism Analysis
2.1.3. Propulsion Mechanism Analysis
2.2. Left–Right-Swinging Tail
2.2.1. Tail Secondary Swing
2.2.2. Tail Main Swing
2.3. Dorsal–Ventral Movement Tail
3. Structural Design and Analysis of the Pneumatic Amphibious Soft Bionic Robot
4. Research on Simulation of Robot Motion Performance
5. Robot Prototype Development and Experimental Research
5.1. Prototype System Construction
5.1.1. Mold Making
5.1.2. Physical Preparation
5.1.3. Construction of Control System
5.2. Robot Experimental Research
5.2.1. Testing and Analysis of the Underwater Swimming Performance of the Robot
- (1)
- Performance testing and analysis of robot straight swimming
- (1)
- The variable frequency and amplitude of the robot flippers flapping and swinging
- (2)
- The variable positional rotation frequency and amplitude of the robot flippers
- (3)
- The variable left–right-swinging frequency and amplitude of the robot tail
- (4)
- The variable dorsal–ventral movement frequency and amplitude of the robot tail
- (5)
- The robot flippers + tail left–right swinging and flippers + tail dorsal–ventral movement
- (2)
- Performance testing and analysis of the robot bow turning
- (1)
- The differential motion of the variable frequency and amplitude of the robot flippers
- (2)
- The variable “C”-shape swinging frequency and amplitude of the robot tail
- (3)
- The flippers + tail “C”-shape swinging of the robot
- (3)
- Testing and analysis of the robot snorkeling performance
- (1)
- The robot flipper variable position rotation offsets + tail left–right swinging
- (2)
- The variable volume density of the robot trunk
- (3)
- The flipper variable offsets + tail left–right swinging + trunk variable volume density of the robot
5.2.2. Testing and Analysis of the Land Crawling Performance of the Robot
- (1)
- Robot straight crawling
- (2)
- Robot turning and crawling
6. Conclusions
- (1)
- Based on anatomical and biomechanical theories, the tissue structure, movement gait, and propulsion mechanism of the inchworm were obtained. Through the sine motion equation, the motion trajectories of a left–right-swinging fishtail and a dorsal–ventral movement dolphin tail were described, and then the propulsion mechanism of the tail movement was obtained according to the theories of biomechanics and fluid mechanics.
- (2)
- Based on the research results on the propulsion mechanism of biological prototypes, the structural design of the pneumatic amphibious soft bionic robot was carried out from the aspects of flippers, tail, head–neck, and trunk, and the main motion forms and functions of each executing mechanism of the robot were analyzed. Through numerical simulation algorithms, the motion simulation research of the main executing mechanism and the entire machine of the robot was completed, and the motion performance of the robot was given, indicating that the robot design scheme and motion forms are feasible and reasonable.
- (3)
- A prototype of the pneumatic amphibious soft bionic robot was built, and the motion performance tests of straight swimming, bow turning, snorkeling, and land crawling and turning were completed under the cooperation of various executing mechanisms of the soft bionic robot. This proves that the soft bionic robot has certain maneuverability, flexibility, and environmental adaptability. The straight swimming velocity of the robot can reach 196.1 mm/s, and the left and right bow-turning velocities can reach 0.18 rad/s and 0.19 rad/s, respectively. The upward floating and diving velocities can reach 85.1 mm/s and 78.9 mm/s, respectively. The straight crawling velocity can reach 3.9 mm/s, and the left and right turning velocities can reach 0.058 rad/s and 0.059 rad/s, respectively.
Author Contributions
Funding
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Elongation at Break (%) | Tensile Strength (psi) | Tear Strength (pli) | Shrinkage Rate | Density (kg·m−3) | Modulus of Elasticity | Poisson’s Ratio |
---|---|---|---|---|---|---|
900% | 200 | 38 | <0.001% | 1130 | 6500 | 0.2 |
C10 | C20 | C30 | D1 | D2 | D3 |
---|---|---|---|---|---|
0.163 | 0.111 | 0.000176 | 0 | 0 | 0 |
Name | Quantity and Function |
---|---|
Electrical proportional valves | A total of 6, controlling the inflation pressure of each actuator: 1: head–neck left, center, and right actuators; 2: left flipper upper, lower, left, and right actuators; 3: left and right flipper torsion actuators; 4: left and right flipper attitude adjustment actuators; 5: right flipper upper, lower, left, and right actuators; 6: tail left, center, and right actuators. |
Electromagnetic directional valve | A total of 18, controlling the inflation and pumping on/off of each actuator: 1 to 3: head–neck left, center, and right actuators; 4 to 7: left flipper upper, lower, left, and right actuators; 8 and 9: left and right flipper torsion actuators; 10 and 11: left and right flipper attitude adjustment actuators; 12 to 15: right flipper upper, lower, left, and right actuators; 16 to 18: tail left, center, and right actuators. |
Filter regulator/oil mist filter/lubricator combination | 1 set; purify the air source, stabilize the working pressure, and lubricate the pneumatic components. |
Speed control valve | 1 pc; controls inflation flow and regulates system speed. |
Precision pressure-reducing valve | 1 pc; stabilizes air pressure, saves energy, and improves system safety. |
Straight Swimming Form | Distance s (mm) | Time t (s) | Velocity v (mm/s) |
---|---|---|---|
Flippers + tail left–right swinging | 5000 | 25.5 | 196.1 |
Flippers + tail dorsal–abdominal movement | 5000 | 27.2 | 183.8 |
Bow-Turning Form | Radius r (mm) | Time t (s) | Velocity v (rad/s) |
---|---|---|---|
Turn to the left | 781 | 30 | 0.18 |
Turn to the right | 794 | 30 | 0.19 |
Experiment Form | Depth s (mm) | Time t (s) | Velocity v (mm/s) |
---|---|---|---|
Upward floating process | 1200 | 14.1 | 85.1 |
Diving process | 1200 | 15.2 | 78.9 |
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Zhao, W.; Zhang, Y.; Yang, L.; Wang, N.; Peng, L. Research and Implementation of Pneumatic Amphibious Soft Bionic Robot. Machines 2024, 12, 393. https://doi.org/10.3390/machines12060393
Zhao W, Zhang Y, Yang L, Wang N, Peng L. Research and Implementation of Pneumatic Amphibious Soft Bionic Robot. Machines. 2024; 12(6):393. https://doi.org/10.3390/machines12060393
Chicago/Turabian StyleZhao, Wenchuan, Yu Zhang, Lijian Yang, Ning Wang, and Linghui Peng. 2024. "Research and Implementation of Pneumatic Amphibious Soft Bionic Robot" Machines 12, no. 6: 393. https://doi.org/10.3390/machines12060393
APA StyleZhao, W., Zhang, Y., Yang, L., Wang, N., & Peng, L. (2024). Research and Implementation of Pneumatic Amphibious Soft Bionic Robot. Machines, 12(6), 393. https://doi.org/10.3390/machines12060393