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Self-excited air flow passage changing device for periodic pressurization of soft robot
ROBOMECH Journal Pub Date : 2021-08-26 , DOI: 10.1186/s40648-021-00207-3
Toshio Takayama 1 , Yusuke Sumi 1
Affiliation  

Recently pneumatic-driven soft robots have been widely developed. Usually, the operating principle of this robot is the inflation and deflation of elastic inflatable chambers by air pressure. Some soft robots need rapid and periodic inflation and deflation of their air chambers to generate continuous motion such as progress motion or rotational motion. However, if the soft robot needs to operate far from the air pressure source, long air tubes are required to supply air pressure to its air chambers. As a result, there is a large delay in supplying air pressure to the air chamber, and the motion of the robot slows down. In this paper, we propose a compact device that changes its airflow passages by self-excited motion generated by a supply of continuous airflow. The diameter and the length of the device are 20 and 50 mm, respectively, and can be driven in a small pipe. Our proposed in-pipe mobile robot is connected to the device and can move in a small pipe by dragging the device into it. To apply the device widely to other soft robots, we also discuss a method of adjusting the output pressure and motion frequency.

中文翻译:

用于软机器人周期性增压的自激式气流通道变换装置

近年来气动软体机器人得到了广泛的发展。通常,这种机器人的工作原理是通过气压对弹性充气室进行充气和放气。一些软机器人需要对其气室进行快速和周期性的充气和放气,以产生连续运动,例如前进运动或旋转运动。但是,如果软体机器人需要在远离气压源的地方进行操作,则需要长长的气管为其气室提供气压。结果,向气室供给气压存在较大的延迟,机器人的动作变慢。在本文中,我们提出了一种紧凑型装置,该装置通过由连续气流供应产生的自激运动来改变其气流通道。装置的直径和长度分别为 20 和 50 mm,并且可以在一个小管道中驱动。我们提出的管道内移动机器人与设备相连,可以通过将设备拖入小管道在小管道中移动。为了将该装置广泛应用于其他软机器人,我们还讨论了一种调整输出压力和运动频率的方法。
更新日期:2021-08-27
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