3D-Printed Soft Bionic Inchworm Robot Powered by Magnetic Force DOI Creative Commons

Deli Xia,

Luying Zhang,

Weihang Nong

и другие.

Biomimetics, Год журнала: 2025, Номер 10(4), С. 202 - 202

Опубликована: Март 26, 2025

Based on soft body structure and unique gait of bending stretching, Soft Bionic Inchworm Robots (SBIRs) are used in pipeline inspection terrain exploration. Many existing SBIRs rely complex production mechanisms cable-driven, which hinders rapid smooth movement through environments, respectively. To address these challenges, this paper introduces a 3D-printed SBIR, featuring actuated by magnetic forces. We introduce the design process 3D-SBIR analyze its motion gait. Subsequently, material composition model deformation robot developed based theory hyper-elastic materials. The accuracy is validated using simulation analysis experimental testing robot. Meanwhile, we carry out discuss factors influencing size force. Finally, series experiments conducted to prove excellent locomotion capability demonstrates remarkable flexibility multimodal capabilities. It can navigate narrow curved passages with ease, passively overcome obstacles, climb steps up 0.8 times height, perform seamless transition while moving across horizontal plane onto vertical plane. proposed characterized production, cable-free actuation, capabilities, making it well suited for unstructured environments.

Язык: Английский

3D-Printed Soft Bionic Inchworm Robot Powered by Magnetic Force DOI Creative Commons

Deli Xia,

Luying Zhang,

Weihang Nong

и другие.

Biomimetics, Год журнала: 2025, Номер 10(4), С. 202 - 202

Опубликована: Март 26, 2025

Based on soft body structure and unique gait of bending stretching, Soft Bionic Inchworm Robots (SBIRs) are used in pipeline inspection terrain exploration. Many existing SBIRs rely complex production mechanisms cable-driven, which hinders rapid smooth movement through environments, respectively. To address these challenges, this paper introduces a 3D-printed SBIR, featuring actuated by magnetic forces. We introduce the design process 3D-SBIR analyze its motion gait. Subsequently, material composition model deformation robot developed based theory hyper-elastic materials. The accuracy is validated using simulation analysis experimental testing robot. Meanwhile, we carry out discuss factors influencing size force. Finally, series experiments conducted to prove excellent locomotion capability demonstrates remarkable flexibility multimodal capabilities. It can navigate narrow curved passages with ease, passively overcome obstacles, climb steps up 0.8 times height, perform seamless transition while moving across horizontal plane onto vertical plane. proposed characterized production, cable-free actuation, capabilities, making it well suited for unstructured environments.

Язык: Английский

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