Pneumatically Actuated Self-Healing Bionic Crawling Soft Robot
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Pneumatically Actuated Self-Healing Bionic Crawling Soft Robot Feng Jiang 1 & Zhenyuan Zhang 1 & Xiaodong Wang 1 & Guanggui Cheng 1,2 & Zhongqiang Zhang 1 & Jianning Ding 1,2 Received: 3 October 2019 / Accepted: 12 March 2020 # Springer Nature B.V. 2020
Abstract The soft robot is composed almost entirely of flexible materials, making it highly flexible, complex environment adaptable and safe human-computer interaction. However, the soft robot is exposed to sharp objects during work, which is ease to cause damage and reduces the service life of the soft robot. In this study, we proposed a bionic earthworm crawling robot with self-healing ability, which is achieved by implanting self-healing silicone elastomer (PDMS-TFB) at key parts with Ecoflex00–30 silica gel as the main body. The PDMS-TFB (Polydimethylsiloxane- Triformylbenzene) elastomer has a high tensile property (maximum strain up to 2400%), which makes it possible to cope with the large deformations that occur during the movement of the soft robot. The soft robot uses the self-healing behavior of materials to make them recyclable. The self-repairing speed of the material can be accelerated by heating, and the performance of the soft robot after healing is almost completely recovered. Actuated by air, the earthworm robot will expand axially after being aerated (10 kPa). When inflate and deflate in designed sequence for each chamber, maximum crawling speed of the soft robot can reach 150 mm/min, meanwhile, it can stably crawl on smooth planes with different angles (maximum 45 degrees) owning to the suction cup structures. This novel strategy provides a solution to greatly improve the service life of soft robots, making them useful in wide applications in scientific research, disaster relief etc. Keywords Crawling soft robot . Bionic earthworm . Self-healing . Pneumatically actuated . Polydimethylsiloxane
1 Introduction Rigid-component industry robots have helped to revolutionize the manufacturing industry, but have long been plagued by the inherent inability of environmental adaptability. Artificial, soft robots can mimic soft biological systems and, as a result, hold great promise for applications, especially at the interface of machine and human [1–3], and hence have gotten a lot of attention. The soft robot consists almost entirely of soft, deformable materials [4], usually elastomeric polymers such as Ecoflex(Smooth-On Inc), which has a modulus of elasticity of 105–106 Pa. The flexibility of these materials is comparable to the flexibility of natural organisms (elastic
* Guanggui Cheng [email protected] * Jianning Ding [email protected] 1
Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang 212013, China
2
Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering, Changzhou University, Changzhou 213164, China
modulus 104-109 Pa). Materials similar to biomaterials enable soft robots adaptive, flexible, and secure interaction in uncertain and dynamic mission environments. Traditional robot and soft robot
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