Self-Reconfiguration Sequence of Lattice Modular Soft Robots

A lattice self-reconfigurable modular soft robot based on the expansion-contraction motion rule is designed, which is composed of several soft modules, each of which is composed of a silica gel main body with positive hexahedron configuration and a master-slave docking surface. The internal bulged d...

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Autores principales:	LIU Jiapeng, WANG Jiangbei, DING Ye, FEI Yanqiong
Formato:	article
Lenguaje:	ZH
Publicado:	Editorial Office of Journal of Shanghai Jiao Tong University 2021
Materias:	soft robot modularization self-reconfiguration sequence Engineering (General). Civil engineering (General) TA1-2040 Chemical engineering TP155-156 Naval architecture. Shipbuilding. Marine engineering VM1-989
Acceso en línea:	https://doaj.org/article/5289f3a6daeb42af9f0101b9420070c9
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spelling	oai:doaj.org-article:5289f3a6daeb42af9f0101b9420070c92021-11-04T09:34:25ZSelf-Reconfiguration Sequence of Lattice Modular Soft Robots1006-246710.16183/j.cnki.jsjtu.2020.005https://doaj.org/article/5289f3a6daeb42af9f0101b9420070c92021-02-01T00:00:00Zhttp://xuebao.sjtu.edu.cn/CN/10.16183/j.cnki.jsjtu.2020.005https://doaj.org/toc/1006-2467A lattice self-reconfigurable modular soft robot based on the expansion-contraction motion rule is designed, which is composed of several soft modules, each of which is composed of a silica gel main body with positive hexahedron configuration and a master-slave docking surface. The internal bulged design makes it have a good expansion performance. The master-slave docking surface is composed of an iron disk and a suction disk type electromagnet connected with the silica gel main body by thread composition. Based on the relationship between the volume change of the soft module and the internal pressure, the expansion of the soft module is analyzed. The mapping relationship between the inflation pressure and the expansion of soft module is established. Besides, the inflation pressure required for the connection of adjacent two soft modules is obtained. Each soft module can expand 1.5 times under the working pressure of 30 kPa, and the docking and separation of two adjacent soft modules are realized by using the electromagnet connection and the expansion-contraction motion rules of soft modules. The self-reconfiguration of the modular soft robot can be realized by the sequential docking and separation of multiple adjacent modules. The feasibility of self-reconfiguration of soft robot is verified by the self-reconfiguration experiment.LIU JiapengWANG JiangbeiDING YeFEI YanqiongEditorial Office of Journal of Shanghai Jiao Tong Universityarticlesoft robotmodularizationself-reconfiguration sequenceEngineering (General). Civil engineering (General)TA1-2040Chemical engineeringTP155-156Naval architecture. Shipbuilding. Marine engineeringVM1-989ZHShanghai Jiaotong Daxue xuebao, Vol 55, Iss 02, Pp 111-116 (2021)
institution	DOAJ
collection	DOAJ
language	ZH
topic	soft robot modularization self-reconfiguration sequence Engineering (General). Civil engineering (General) TA1-2040 Chemical engineering TP155-156 Naval architecture. Shipbuilding. Marine engineering VM1-989
spellingShingle	soft robot modularization self-reconfiguration sequence Engineering (General). Civil engineering (General) TA1-2040 Chemical engineering TP155-156 Naval architecture. Shipbuilding. Marine engineering VM1-989 LIU Jiapeng WANG Jiangbei DING Ye FEI Yanqiong Self-Reconfiguration Sequence of Lattice Modular Soft Robots
description	A lattice self-reconfigurable modular soft robot based on the expansion-contraction motion rule is designed, which is composed of several soft modules, each of which is composed of a silica gel main body with positive hexahedron configuration and a master-slave docking surface. The internal bulged design makes it have a good expansion performance. The master-slave docking surface is composed of an iron disk and a suction disk type electromagnet connected with the silica gel main body by thread composition. Based on the relationship between the volume change of the soft module and the internal pressure, the expansion of the soft module is analyzed. The mapping relationship between the inflation pressure and the expansion of soft module is established. Besides, the inflation pressure required for the connection of adjacent two soft modules is obtained. Each soft module can expand 1.5 times under the working pressure of 30 kPa, and the docking and separation of two adjacent soft modules are realized by using the electromagnet connection and the expansion-contraction motion rules of soft modules. The self-reconfiguration of the modular soft robot can be realized by the sequential docking and separation of multiple adjacent modules. The feasibility of self-reconfiguration of soft robot is verified by the self-reconfiguration experiment.
format	article
author	LIU Jiapeng WANG Jiangbei DING Ye FEI Yanqiong
author_facet	LIU Jiapeng WANG Jiangbei DING Ye FEI Yanqiong
author_sort	LIU Jiapeng
title	Self-Reconfiguration Sequence of Lattice Modular Soft Robots
title_short	Self-Reconfiguration Sequence of Lattice Modular Soft Robots
title_full	Self-Reconfiguration Sequence of Lattice Modular Soft Robots
title_fullStr	Self-Reconfiguration Sequence of Lattice Modular Soft Robots
title_full_unstemmed	Self-Reconfiguration Sequence of Lattice Modular Soft Robots
title_sort	self-reconfiguration sequence of lattice modular soft robots
publisher	Editorial Office of Journal of Shanghai Jiao Tong University
publishDate	2021
url	https://doaj.org/article/5289f3a6daeb42af9f0101b9420070c9
work_keys_str_mv	AT liujiapeng selfreconfigurationsequenceoflatticemodularsoftrobots AT wangjiangbei selfreconfigurationsequenceoflatticemodularsoftrobots AT dingye selfreconfigurationsequenceoflatticemodularsoftrobots AT feiyanqiong selfreconfigurationsequenceoflatticemodularsoftrobots
_version_	1718444958357127168

Self-Reconfiguration Sequence of Lattice Modular Soft Robots

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