This article proposes a novel pneumatic soft actuator, which can perform bending in different directions under positive or negative air pressure. The actuators are composed of multiple airbags, and the design of the airbags is analyzed. A pneumatic soft robot based on these soft actuators is designed and fabricated by 3D printing technology. This robot consists of three soft multi-bladder actuators, one soft sensor, middle layer, bottom layer, front barb, front feet and rear feet. According to the different positive or negative pressure control of the three soft multi-bladder actuators, the robot can perform both linear, crossing and climbing movements. The soft robot has excellent environmental adaptability and can pass through complex environments by combining three modes of motion. Then, we establish the closed-loop automatic control system using soft sensor. The soft sensor can be stretched and compressed as the soft robot’s movement. Finally, the automatic control system is verified by linear, crossing and climbing movement experiments. Results indicate that the robot can pass through complex environments under the closed-loop control system.

中文翻译：

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多运动模式软爬行机器人的设计与制作

本文提出了一种新型的气动软执行器，该执行器可以在正或负气压下沿不同方向执行弯曲。执行器由多个安全气囊组成，并分析了安全气囊的设计。基于这些软执行器的气动软机器人是通过3D打印技术设计和制造的。该机器人由三个软多囊执行器，一个软传感器，中间层，底层，前倒钩，前脚和后脚组成。根据三个软多囊执行器的正负压力控制不同，机器人可以执行线性，交叉和爬升运动。该软机器人具有出色的环境适应性，并且通过组合三种运动模式可以穿越复杂的环境。然后，我们建立了使用软传感器的闭环自动控制系统。可以随着软机器人的运动来拉伸和压缩软传感器。最后，通过线性，交叉和爬升运动实验验证了自动控制系统。结果表明，该机器人可以在闭环控制系统下通过复杂的环境。