Development of an inchworm-like soft pipe robot for detection

Li, Manhong; Wang, Guoliang; Wang, Jingtian; Zheng, Yueshuo; Jiao, Xiaohong

doi:10.1016/j.ijmecsci.2023.108392

Cited by 13 publications

(1 citation statement)

References 67 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The second advantage is that a single actuator can generate 2-DOF traveling waves. Some soft actuators can only generate 1-DOF traveling waves using a single actuator [27][28][29]. Hence, it is crucial to use two or more actuators for 2-DOF motions [12,21,26].…”

Section: Introductionmentioning

confidence: 99%

2-DOF Woven Tube Plane Surface Soft Actuator Using Extensional Pneumatic Artificial Muscle

Kuriyama,

Takayama

2024

Hardware

View full text Add to dashboard Cite

Soft actuators, designed for fragile item conveyance and navigation in complex environments, have garnered recent attention. This study proposes a cost-effective soft actuator, created by weaving tubes into twill patterns, capable of transportation and movement. The actuator achieves this by inducing traveling waves on its upper and lower surfaces through sequential pressurization of tubes. Notably, its fabrication does not require specialized molds, contributing to cost efficiency. The single actuator generates traveling waves with two degrees of freedom. Conventional silicone tube-based actuators demonstrate slow transport speeds (3.5 mm/s). To address this, this study replaced silicone tubes with pneumatic artificial muscles, enhancing overall body deformation and actuator speed. Experiments involving both extensional and contractional artificial muscles demonstrated that soft actuators with extensional artificial muscles significantly improved transportation and movement speed to 8.0 mm/s.

show abstract

Section: Introductionmentioning

confidence: 99%

2-DOF Woven Tube Plane Surface Soft Actuator Using Extensional Pneumatic Artificial Muscle

Kuriyama,

Takayama

2024

Hardware

View full text Add to dashboard Cite

show abstract

Nonlinear dynamics of a circular curved cantilevered pipe conveying pulsating fluid based on the geometrically exact model

Cao,

Guo,

Chen

et al. 2024

Appl. Math. Mech.-Engl. Ed.

View full text Add to dashboard Cite

Due to the novel applications of flexible pipes conveying fluid in the field of soft robotics and biomedicine, the investigations on the mechanical responses of the pipes have attracted considerable attention. The fluid-structure interaction (FSI) between the pipe with a curved shape and the time-varying internal fluid flow brings a great challenge to the revelation of the dynamical behaviors of flexible pipes, especially when the pipe is highly flexible and usually undergoes large deformations. In this work, the geometrically exact model (GEM) for a curved cantilevered pipe conveying pulsating fluid is developed based on the extended Hamilton’s principle. The stability of the curved pipe with three different subtended angles is examined with the consideration of steady fluid flow. Specific attention is concentrated on the large-deformation resonance of circular pipes conveying pulsating fluid, which is often encountered in practical engineering. By constructing bifurcation diagrams, oscillating shapes, phase portraits, time traces, and Poincare maps, the dynamic responses of the curved pipe under various system parameters are revealed. The mean flow velocity of the pulsating fluid is chosen to be either subcritical or supercritical. The numerical results show that the curved pipe conveying pulsating fluid can exhibit rich dynamical behaviors, including periodic and quasi-periodic motions. It is also found that the preferred instability type of a cantilevered curved pipe conveying steady fluid is mainly in the flutter of the second mode. For a moderate value of the mass ratio, however, a third-mode flutter may occur, which is quite different from that of a straight pipe system.

show abstract

Ballistic response of an airbag with parallel ribs under spherical projectile impact

Bai,

Qi,

Xie

et al. 2025

Composite Structures

View full text Add to dashboard Cite

Development of an inchworm-like soft pipe robot for detection

Cited by 13 publications

References 67 publications

2-DOF Woven Tube Plane Surface Soft Actuator Using Extensional Pneumatic Artificial Muscle

2-DOF Woven Tube Plane Surface Soft Actuator Using Extensional Pneumatic Artificial Muscle

Nonlinear dynamics of a circular curved cantilevered pipe conveying pulsating fluid based on the geometrically exact model

Ballistic response of an airbag with parallel ribs under spherical projectile impact

Contact Info

Product

Resources

About