Pneumatic squirming robot based on flexible pneumatic actuator

Qinghua Yang; Libin Zhang; Guanjun Bao; Jian Ruan

doi:10.1117/12.664679

2 May 2006 Pneumatic squirming robot based on flexible pneumatic actuator

Qinghua Yang, Libin Zhang, Guanjun Bao, Jian Ruan

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60422W (2006) https://doi.org/10.1117/12.664679
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

The design of a kind of pneumatic squirming robot is presented. It is based on the use of flexible pneumatic actuator. The flexible pneumatic actuator was made of caoutchouc. Its working principle is described. The structure, working principle, pneumatic and electrical control system of the pneumatic squirming robot are designed. All of the actuator's driving and squirming parts are composed of pneumatic elements. The vacuum osculums, which act as feet, are connected to the flexible pneumatic actuator. When the vacuum pumps operate, vacuum will be produced in the corresponding osculums, which can adsorb on the contacting surface and orient the robot. The actuator, operating under air pressure, drives the robot. By controlling the vacuum pumps and the actuator, straight and bending squirming of this robot can be obtained.

Citation Download Citation

Qinghua Yang, Libin Zhang, Guanjun Bao, and Jian Ruan "Pneumatic squirming robot based on flexible pneumatic actuator", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60422W (2 May 2006); https://doi.org/10.1117/12.664679

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