單驅動器軟性爬管機器人

Abstract

使用軟材料來製作機器人或是機器人零件在未來有很大的潛力。在我們研究中我們設計與製造了一種新型態的軟性機器人，其用途是可以在圓管管路中移動。在過去的大部份的爬管軟性機器人研究都用到了三節或三節以上的氣囊結構與驅動器來爬行。我們研究有別於過去的這種結構設計，我們僅使用單節r結構與單一曲動器來進行管內爬行，這樣能降低設氣壓設備數量、成本及複雜度。為了達到上述的效果，我們設計了一種長條形彈性薄片結構，透過壓縮薄片成特定形狀在釋放的過程帶動機器人移動，最終我們的機構達到能穩定爬行、垂直向上爬行、適應不同管徑與克服簡單彎道的效果。

Constituting robot with soft materials and complaint components has great potential in future robot design. In this thesis, we present a new type of soft robot which can crawl in the pipeline structure. Most of existing tube-crawling soft robot had three or more segments and actuators. Unlike previous research, we build up our robot with only one segment and one pneumatic actuator that lower the number, price and complexity of pneumatic equipment. To achieve this goal, we design a special elastic ribbon (stripe) structure. When the actuator compress and release these ribbons in the pipe, the deformation of ribbons propel the robot forward. Finally, Our robot achieve stable crawling, climbing vertical tube, diameter adaptability and turning in some types of elbow.