| Robotic and Mechanism Design |
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| Design and experimental study of soft crawling robots based on anisotropic friction |
Jintao XU( ),Jinhu CAI,Lingling TANG,Long HUANG() |
| College of Mechanical and Vehicle Engineering, Changsha University of Science and Technology, Changsha 410114, China |
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Abstract Aiming at the problems of poor motion adaptability and low friction-driven efficiency of soft crawling robots in diverse surface environments, a triangular surface texture design scheme with anisotropic friction characteristics is proposed. Based on the principle of inchworm movement, the triangular surface texture design is applied to the friction foot of the soft crawling robot and integrated with the pneumatic corrugated actuator to achieve multiple movement modes of the robot on different surfaces. Firstly, based on the assumption of constant curvature, the relationship between the elastic deformation and the pressure of the corrugated actuator was analyzed, and its kinematics model was established. Then, a friction force testing experimental platform was built to measure the anisotropic friction performance of the friction foot on the contact surfaces of different roughness. Finally, experiments on the forward and turning movements of the robot were carried out to test its motion performance on substrate surfaces with different roughness. Through kinematics experiments, the correctness of the kinematics model of the corrugated actuator was verified. Through experiments, it was measured that on the wooden substrate surface, the forward speed of the robot could reach 1.11 cm/s; on the acrylic substrate surface, the forward speed of the robot could reach 0.95 cm/s. In the turning motion experiment, the turning speed of the robot on the wooden and acrylic substrate surfaces could reach 3.48 (°)/s and 3.08 (°)/s, respectively. The results showed that the triangular surface texture design could effectively achieve anisotropic friction performance, and this friction performance increased first and then decreased with the increase of texture height. The triangular surface texture design can significantly enhance the motion performance of soft crawling robots on different substrate surfaces and has certain practical value.
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Received: 03 April 2025
Published: 30 December 2025
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Corresponding Authors:
Long HUANG
E-mail: xujintao2022@163.com;huanglongin@foxmail.com
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基于各向异性摩擦的软体爬行机器人设计与实验研究
针对软体爬行机器人在多样化表面环境下运动适应性差、摩擦驱动效率低的问题，提出了一种具有各向异性摩擦特性的三角形表面织构设计方案。根据尺蠖的运动原理，将三角形表面织构设计应用于软体爬行机器人的摩擦足，并与气动波纹致动器集成，以实现机器人在不同表面上的多种运动模式。首先，基于常曲率假设分析波纹致动器的弹性变形与压强的关系，并建立了其运动学模型。然后，搭建摩擦力测试实验平台，测量得出摩擦足在不同粗糙度接触基面上的各向异性摩擦性能。最后，开展机器人的前进运动与转向运动实验，以测试机器人在不同粗糙度基材表面上的运动性能。通过运动学实验验证了波纹致动器运动学模型的正确性。通过实验测得：在木质基面上，机器人的前进速度可达1.11 cm/s；在亚克力基面上，机器人的前进速度可达0.95 cm/s；在转向运动实验中，机器人在木质基面上的转向速度可达3.48 (°)/s，在亚克力基面上的转向速度可达3.08 (°)/s。结果表明，三角形表面织构设计能够有效实现各向异性摩擦性能，且摩擦性能随织构高度的增大呈现先提升后下降的趋势。三角形表面织构设计可显著提升软体爬行机器人在不同基材表面上的运动性能，具有一定的实用价值。
关键词：
软体爬行机器人,
波纹致动器,
运动学模型,
三角形表面织构设计,
各向异性摩擦
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