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    A Rigid Morphing Mechanism Enabled EarthwormLike Crawling Robot

    Source: Journal of Mechanisms and Robotics:;2022:;volume( 015 ):;issue: 001::page 11008
    Author:
    Luo, Yudong;Zhao, Na;Shen, Yantao;Li, Peng
    DOI: 10.1115/1.4053823
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Inspired by natural earthworms’ locomotion mechanism, this paper investigates how the earthworm’s muscle works and presents the approach to mimic segmental muscle by employing rigid elementsbased morphing structures. Specifically, the proposed earthwormlike robot employs a class of 2D rigid elements and their array to achieve programable bidirectional 3D deformation, making the formed mechanism precisely controllable and work effectively, thus facilitating the robot’s peristaltic locomotion more efficient. To comprehensively investigate the morphing structure and its formed earthwormlike robot, the kinematics, mechanics, deformationdependent locomotion framework with its adapted model, as well as the factors that affect the optimal velocity are developed and presented. Extensive simulations and experiments on the proposed robot are performed. The results verify the effectiveness of the morphing mechanism and it enabled earthwormlike robot and the consistency between the proposed locomotion model and the practical tests. The results also prove that regardless of the condition of the contact surface, the optimal phase shift angle can be achieved when each segment approximately contracts and relaxes once in one wavelength period. Our developed prototype achieves a speed of multiple body lengths per minute, which is very competitive compared with most developed earthwormlike robots.
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      A Rigid Morphing Mechanism Enabled EarthwormLike Crawling Robot

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4288787
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    contributor authorLuo, Yudong;Zhao, Na;Shen, Yantao;Li, Peng
    date accessioned2023-04-06T12:56:10Z
    date available2023-04-06T12:56:10Z
    date copyright4/26/2022 12:00:00 AM
    date issued2022
    identifier issn19424302
    identifier otherjmr_15_1_011008.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4288787
    description abstractInspired by natural earthworms’ locomotion mechanism, this paper investigates how the earthworm’s muscle works and presents the approach to mimic segmental muscle by employing rigid elementsbased morphing structures. Specifically, the proposed earthwormlike robot employs a class of 2D rigid elements and their array to achieve programable bidirectional 3D deformation, making the formed mechanism precisely controllable and work effectively, thus facilitating the robot’s peristaltic locomotion more efficient. To comprehensively investigate the morphing structure and its formed earthwormlike robot, the kinematics, mechanics, deformationdependent locomotion framework with its adapted model, as well as the factors that affect the optimal velocity are developed and presented. Extensive simulations and experiments on the proposed robot are performed. The results verify the effectiveness of the morphing mechanism and it enabled earthwormlike robot and the consistency between the proposed locomotion model and the practical tests. The results also prove that regardless of the condition of the contact surface, the optimal phase shift angle can be achieved when each segment approximately contracts and relaxes once in one wavelength period. Our developed prototype achieves a speed of multiple body lengths per minute, which is very competitive compared with most developed earthwormlike robots.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleA Rigid Morphing Mechanism Enabled EarthwormLike Crawling Robot
    typeJournal Paper
    journal volume15
    journal issue1
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4053823
    journal fristpage11008
    journal lastpage1100810
    page10
    treeJournal of Mechanisms and Robotics:;2022:;volume( 015 ):;issue: 001
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
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