Design of a Fuel Explosion-Based Chameleon-Like Soft Robot Aided by the Comprehensive Dynamic Model
Soft robotics have advantages over the traditional rigid ones to achieve the bending motion but face with challenges to realize the rapid and long-distance linear motion due to the lack of a suitable actuation system. In this paper, a new explosion-based soft robot is proposed to generate the axial...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
American Association for the Advancement of Science (AAAS)
2023-01-01
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| Series: | Cyborg and Bionic Systems |
| Online Access: | https://spj.science.org/doi/10.34133/cbsystems.0010 |
| _version_ | 1797810719680364544 |
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| author | Haiqin Zhou Shunze Cao Shuailong Zhang Fenggang Li Nan Ma |
| author_facet | Haiqin Zhou Shunze Cao Shuailong Zhang Fenggang Li Nan Ma |
| author_sort | Haiqin Zhou |
| collection | DOAJ |
| description | Soft robotics have advantages over the traditional rigid ones to achieve the bending motion but face with challenges to realize the rapid and long-distance linear motion due to the lack of a suitable actuation system. In this paper, a new explosion-based soft robot is proposed to generate the axial fast extension by the explosion pressure. To support and predict the performance of this explosion-based soft robot, a novel dynamic model is developed by considering the change of working fluid (molecular numbers) and some unavoidable and influential factors in the combustion process. Then, based on the physical prototype, a set of experiments is conducted to test the performance of the explosion-based soft robot in performing the axial extensions, as well as to validate the model proposed in this article. It is found that the novel explosion-based soft robot can achieve rapid axial extension by the developed explosion-based actuation system. The explosion-based soft robot can achieve 41-mm displacement at a fuel mass of 180 mg. In addition, the proposed dynamic model can be validated with an average error of 1.5%. The proposed approach in this study provides a promising solution for future high-power density explosion-based soft robots. |
| first_indexed | 2024-03-13T07:11:58Z |
| format | Article |
| id | doaj.art-8ae7023a3aeb421d8a897d5a18f77361 |
| institution | Directory Open Access Journal |
| issn | 2692-7632 |
| language | English |
| last_indexed | 2024-03-13T07:11:58Z |
| publishDate | 2023-01-01 |
| publisher | American Association for the Advancement of Science (AAAS) |
| record_format | Article |
| series | Cyborg and Bionic Systems |
| spelling | doaj.art-8ae7023a3aeb421d8a897d5a18f773612023-06-05T19:18:32ZengAmerican Association for the Advancement of Science (AAAS)Cyborg and Bionic Systems2692-76322023-01-01410.34133/cbsystems.0010Design of a Fuel Explosion-Based Chameleon-Like Soft Robot Aided by the Comprehensive Dynamic ModelHaiqin Zhou0Shunze Cao1Shuailong Zhang2Fenggang Li3Nan Ma4Department of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.Department of Engineering Mechanics, Tsinghua University, Beijing, China.School of Mechatronical Engineering and Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China.School of Mechatronical Engineering and Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China.Department of Engineering of Lancaster University, Lancaster LA1 4YW, UK.Soft robotics have advantages over the traditional rigid ones to achieve the bending motion but face with challenges to realize the rapid and long-distance linear motion due to the lack of a suitable actuation system. In this paper, a new explosion-based soft robot is proposed to generate the axial fast extension by the explosion pressure. To support and predict the performance of this explosion-based soft robot, a novel dynamic model is developed by considering the change of working fluid (molecular numbers) and some unavoidable and influential factors in the combustion process. Then, based on the physical prototype, a set of experiments is conducted to test the performance of the explosion-based soft robot in performing the axial extensions, as well as to validate the model proposed in this article. It is found that the novel explosion-based soft robot can achieve rapid axial extension by the developed explosion-based actuation system. The explosion-based soft robot can achieve 41-mm displacement at a fuel mass of 180 mg. In addition, the proposed dynamic model can be validated with an average error of 1.5%. The proposed approach in this study provides a promising solution for future high-power density explosion-based soft robots.https://spj.science.org/doi/10.34133/cbsystems.0010 |
| spellingShingle | Haiqin Zhou Shunze Cao Shuailong Zhang Fenggang Li Nan Ma Design of a Fuel Explosion-Based Chameleon-Like Soft Robot Aided by the Comprehensive Dynamic Model Cyborg and Bionic Systems |
| title | Design of a Fuel Explosion-Based Chameleon-Like Soft Robot Aided by the Comprehensive Dynamic Model |
| title_full | Design of a Fuel Explosion-Based Chameleon-Like Soft Robot Aided by the Comprehensive Dynamic Model |
| title_fullStr | Design of a Fuel Explosion-Based Chameleon-Like Soft Robot Aided by the Comprehensive Dynamic Model |
| title_full_unstemmed | Design of a Fuel Explosion-Based Chameleon-Like Soft Robot Aided by the Comprehensive Dynamic Model |
| title_short | Design of a Fuel Explosion-Based Chameleon-Like Soft Robot Aided by the Comprehensive Dynamic Model |
| title_sort | design of a fuel explosion based chameleon like soft robot aided by the comprehensive dynamic model |
| url | https://spj.science.org/doi/10.34133/cbsystems.0010 |
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