Development and Performance Analysis of Pneumatic Soft‐Bodied Bionic Flipper

Zhao, Wenchuan; Yu, Zhang; Lim, Kian Meng; Luo, Juan; Wang, Ning

doi:10.1002/adem.202101566

Cited by 5 publications

(3 citation statements)

References 56 publications

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“…To comprehensively improve the motion performance of the robot, the left-right swinging and dorsal-ventral motion functions are incorporated into the structural design of the robot, and the biological prototype propulsion mechanism of both types of tail movement is studied. It should be noted that this article is a continuation of our previous research findings, and we will not provide specific research on the biomimetic principle of the fore-flippers of the robot here [36].…”

Section: Research On Propulsion Mechanism Of Biological Prototypementioning

confidence: 99%

Research and Implementation of Pneumatic Amphibious Soft Bionic Robot

Zhao,

Zhang,

Yang

et al. 2024

Machines

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To meet the requirements of amphibious exploration, ocean exploration, and military reconnaissance tasks, a pneumatic amphibious soft bionic robot was developed by taking advantage of the structural characteristics, motion forms, and propulsion mechanisms of the sea lion fore-flippers, inchworms, Carangidae tails, and dolphin tails. Using silicone rubber as the main material of the robot, combined with the driving mechanism of the pneumatic soft bionic actuator, and based on the theory of mechanism design, a systematic structural design of the pneumatic amphibious soft bionic robot was carried out from the aspects of flippers, tail, head–neck, and trunk. Then, a numerical simulation algorithm was used to analyze the main executing mechanisms and their coordinated motion performance of the soft bionic robot and to verify the rationality and feasibility of the robot structure design and motion forms. With the use of rapid prototyping technology to complete the construction of the robot prototype body, based on the motion amplitude, frequency, and phase of the bionic prototype, the main execution mechanisms of the robot were controlled through a pneumatic system to carry out experimental testing. The results show that the performance of the robot is consistent with the original design and numerical simulation predictions, and it can achieve certain maneuverability, flexibility, and environmental adaptability. The significance of this work is the development of a pneumatic soft bionic robot suitable for amphibious environments, which provides a new idea for the bionic design and application of pneumatic soft robots.

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Section: Research On Propulsion Mechanism Of Biological Prototypementioning

confidence: 99%

Research and Implementation of Pneumatic Amphibious Soft Bionic Robot

Zhao,

Zhang,

Yang

et al. 2024

Machines

Self Cite

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“…For example, some studies have used negative pressure fluid to promote the recovery of the actuators [30][31][32], but it is not easy to work effectively in the recovery stage. Additionally, some work stresses the generation of bending motion by connecting multiple cavities in parallel [33][34][35][36][37]. However, it requires controlling the motion of the actuator in multichannel, which is not easy to operate.…”

Section: Introductionmentioning

confidence: 99%

“…FIGURE 1: Diagrams of the origami-inspired flexible telescopic actuator[37] in (a) an extended state and (b) a retracted state.…”

mentioning

confidence: 99%

Evolution from Telescoping to Bending: An Origami-Inspired Flexible Bending Actuator

Shao

Zhao

Zuo

et al. 2023

Applied Bionics and Biomechanics

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Soft actuators have great potential in human–machine interaction and soft robotics innovation. Origami exhibiting outstanding structural and topological properties can be a paradigm for people to design various soft robots. Inspired by origami, we have previously designed a telescopic actuator with excellent performance, mainly large force output, and two-way working. Although significant advances have been made in soft bending actuators, their further study and applications are limited due to small force output in a monotonous work style. In this paper, we design a series of novel bending actuators that inherit our prior telescopic actuator’s excellent characteristics to diversify soft actuators’ motion forms. Several actuators of different sizes are fabricated using three different materials and evaluated on a designed test platform. The test results show that actuators of different sizes using different materials perform differently. Namely, the maximum tip force produced by an actuator reaches 9.6 N, and the maximum bending angle is achieved by another one up to 138°. Finally, extensive demonstrations and tests include wriggling, gripping, and bidirectional motion in the water. They show our flexible bending actuators’ distinguishing characteristics of large output force and two-way working.

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