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Li S, Zhang Y, Zhang R, Liu J. Radial Expansion Favors the Burrowing Behavior of Urechis unicinctus. Appl Bionics Biomech 2023; 2023:2478606. [PMID: 37829521 PMCID: PMC10567378 DOI: 10.1155/2023/2478606] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/17/2022] [Revised: 08/29/2023] [Accepted: 09/08/2023] [Indexed: 10/14/2023] Open
Abstract
Urechis unicinctus can utilize the ability of large deformation to advance in sands by radial expansion, just using a small force. However, the large deformation of U. unicinctus skin and the discrete nature of the sands make it hard to analyze this process quantitatively. In this study, we aim to uncover the burrowing mechanism of U. unicinctus in granular sediments by combining discrete and finite elements. We observe that U. unicinctus will expand radially at the head, and then the head will shrink to move forward. The radial expansion will collapse the sands and let them flow, making it easy to advance. U. unicinctus mainly relies on the skin's large deformation and sufficient pressure to achieve radial expansion. Thus, we first establish the large deformation constitutive model of the skin. The stress-strain relationship can be expressed by the Yeoh model. Meanwhile, the pressure required for radial expansion is indirectly measured by the balloon experiment. To study the effect of radial expansion on the burrowing behavior, we use the finite element method-discrete element method (FEM-DEM) coupling model to simulate the expansion process of burrowing. The simulated pressure for radial expansion is very close to the experimental data, verifying the reliability of the simulation. The results show that the expansion can drastically reduce the pressure of sand particles on the head front face by 97.1% ± 0.6%, significantly decreasing the difficulty of burrowing. This unique underwater burrow method of U. unicinctus can provide new ideas for engineering burrowing devices in soft soil, especially for granular sediments.
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Affiliation(s)
- Shanpeng Li
- College of Engineering, Lishui University, Lishui 323000, China
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou, Gansu 730000, China
| | - Yun Zhang
- College of Pipeline and Civil Engineering, China University of Petroleum (East China), Qingdao 266580, China
| | - Ruihua Zhang
- College of Engineering, Lishui University, Lishui 323000, China
| | - Jianlin Liu
- College of Pipeline and Civil Engineering, China University of Petroleum (East China), Qingdao 266580, China
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2
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Liu J, Li P, Zuo S. Actuation and design innovations in earthworm-inspired soft robots: A review. Front Bioeng Biotechnol 2023; 11:1088105. [PMID: 36896011 PMCID: PMC9989016 DOI: 10.3389/fbioe.2023.1088105] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/03/2022] [Accepted: 02/06/2023] [Indexed: 02/23/2023] Open
Abstract
Currently, soft robotics technologies are creating the means of robotic abilities and are required for the development of biomimetic robotics. In recent years, earthworm-inspired soft robot has garnered increasing attention as a major branch of bionic robots. The major studies on earthworm-inspired soft robots focuses on the deformation of the earthworm body segment. Consequently, various actuation methods have been proposed to conduct the expansion and contraction of the robot's segments for locomotion simulation. This review article aims to act as a reference guide for researchers interested in the field of earthworm-inspired soft robot, and to present the current state of research, summarize current design innovations, compare the advantages and disadvantages of different actuation methods with the purpose of inspiring future innovative orientations for researchers. Herein, earthworm-inspired soft robots are classified into single- and multi-segment types, and the characteristics of various actuation methods are introduced and compared according to the number of matching segments. Moreover, various promising application instances of the different actuation methods are detailed along with their main features. Finally, motion performances of the robots are compared by two normalized metrics-speed compared by body length and speed compared by body diameter, and future developments in this research direction are presented.
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Affiliation(s)
- Jianbin Liu
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
| | - Pengcheng Li
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
| | - Siyang Zuo
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
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3
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Hong C, Ren Z, Wang C, Li M, Wu Y, Tang D, Hu W, Sitti M. Magnetically actuated gearbox for the wireless control of millimeter-scale robots. Sci Robot 2022; 7:eabo4401. [PMID: 36044558 DOI: 10.1126/scirobotics.abo4401] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2022]
Abstract
The limited force or torque outputs of miniature magnetic actuators constrain the locomotion performances and functionalities of magnetic millimeter-scale robots. Here, we present a magnetically actuated gearbox with a maximum size of 3 millimeters for driving wireless millirobots. The gearbox is assembled using microgears that have reference diameters down to 270 micrometers and are made of aluminum-filled epoxy resins through casting. With a magnetic disk attached to the input shaft, the gearbox can be driven by a rotating external magnetic field, which is not more than 6.8 millitesla, to produce torque of up to 0.182 millinewton meters at 40 hertz. The corresponding torque and power densities are 12.15 micronewton meters per cubic millimeter and 8.93 microwatt per cubic millimeter, respectively. The transmission efficiency of the gearbox in the air is between 25.1 and 29.2% at actuation frequencies ranging from 1 to 40 hertz, and it lowers when the gearbox is actuated in viscous liquids. This miniature gearbox can be accessed wirelessly and integrated with various functional modules to repeatedly generate large actuation forces, strains, and speeds; store energy in elastic components; and lock up mechanical linkages. These characteristics enable us to achieve a peristaltic robot that can crawl on a flat substrate or inside a tube, a jumping robot with a tunable jumping height, a clamping robot that can sample solid objects by grasping, a needle-puncture robot that can take samples from the inside of the target, and a syringe robot that can collect or release liquids.
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Affiliation(s)
- Chong Hong
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.,State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China
| | - Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.,Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
| | - Che Wang
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China
| | - Mingtong Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Yingdan Wu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Dewei Tang
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.,Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland.,School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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Exploiting Morphology of an Underactuated Two-segment Soft-bodied Arm for Swing-up Control. J INTELL ROBOT SYST 2022. [DOI: 10.1007/s10846-022-01700-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/15/2022]
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5
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Development and Analysis of Key Components of a Multi Motion Mode Soft-Bodied Pipe Robot. ACTUATORS 2022. [DOI: 10.3390/act11050125] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
In order to enhance the environmental adaptability of peristaltic soft-bodied pipe robots, based on the nonlinear and hyperelastic characteristics of silicone rubber combined with the biological structure and motion characteristics of worms, a hexagonal prism soft-bodied bionic actuator is proposed. The actuator adopts different inflation patterns to produce different deformations, so that the soft-bodied robot can realize different motion modes in the pipeline. Based on the Yeoh binomial parameter silicone rubber constitutive model, the deformation analysis model of the hexagonal prism soft-bodied bionic actuator is established, and the numerical simulation algorithm is used to ensure both that the drive structure and deformation mode are reasonable, and that the deformation analysis theoretical model is accurate. The motion and dynamic characteristics of the prepared hexagonal prism soft-bodied bionic actuator are tested and analyzed, the motion and dynamic characteristic curves of the actuator are obtained, and the empirical deformation formula of the actuator is fitted. The experimental results are consistent with the deformation analysis model and numerical simulation result, which shows that the deformation analysis model and numerical simulation method are accurate and can provide design methods and reference basis for the development of a pneumatic soft-bodied body bionic actuator. The above research results can also prove that the hexagonal prism soft-bodied bionic actuator is reasonable and feasible.
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Ze Q, Wu S, Nishikawa J, Dai J, Sun Y, Leanza S, Zemelka C, Novelino LS, Paulino GH, Zhao RR. Soft robotic origami crawler. SCIENCE ADVANCES 2022; 8:eabm7834. [PMID: 35353556 PMCID: PMC8967224 DOI: 10.1126/sciadv.abm7834] [Citation(s) in RCA: 52] [Impact Index Per Article: 26.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/11/2021] [Accepted: 02/08/2022] [Indexed: 05/19/2023]
Abstract
Biomimetic soft robotic crawlers have attracted extensive attention in various engineering fields, owing to their adaptivity to different terrains. Earthworm-like crawlers realize locomotion through in-plane contraction, while inchworm-like crawlers exhibit out-of-plane bending-based motions. Although in-plane contraction crawlers demonstrate effective motion in confined spaces, miniaturization is challenging because of limited actuation methods and complex structures. Here, we report a magnetically actuated small-scale origami crawler with in-plane contraction. The contraction mechanism is achieved through a four-unit Kresling origami assembly consisting of two Kresling dipoles with two-level symmetry. Magnetic actuation is used to provide appropriate torque distribution, enabling a small-scale and untethered robot with both crawling and steering capabilities. The crawler can overcome large resistances from severely confined spaces by its anisotropic and magnetically tunable structural stiffness. The multifunctionality of the crawler is explored by using the internal cavity of the crawler for drug storage and release. The magnetic origami crawler can potentially serve as a minimally invasive device for biomedical applications.
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Affiliation(s)
- Qiji Ze
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
| | - Shuai Wu
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
| | - Jun Nishikawa
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, USA
| | - Jize Dai
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, USA
| | - Yue Sun
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, USA
- Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA 94720, USA
| | - Sophie Leanza
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, USA
| | - Cole Zemelka
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, USA
| | - Larissa S. Novelino
- School of Civil and Environmental Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - Glaucio H. Paulino
- School of Civil and Environmental Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
- Department of Civil and Environmental Engineering, Princeton University, Princeton, NJ 08544, USA
- Princeton Institute for the Science and Technology of Materials (PRISM), Princeton University, Princeton, NJ 08544, USA
- Corresponding author. (G.H.P.); (R.R.Z.)
| | - Ruike Renee Zhao
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, USA
- Corresponding author. (G.H.P.); (R.R.Z.)
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Yoo U, Liu Y, Deshpande AD, Alamabeigi F. Analytical Design of a Pneumatic Elastomer Robot With Deterministically Adjusted Stiffness. IEEE Robot Autom Lett 2021; 6:7773-7780. [DOI: 10.1109/lra.2021.3100608] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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Bhovad P, Li S. Physical reservoir computing with origami and its application to robotic crawling. Sci Rep 2021; 11:13002. [PMID: 34155251 PMCID: PMC8217268 DOI: 10.1038/s41598-021-92257-1] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/05/2021] [Accepted: 06/04/2021] [Indexed: 12/17/2022] Open
Abstract
A new paradigm called physical reservoir computing has recently emerged, where the nonlinear dynamics of high-dimensional and fixed physical systems are harnessed as a computational resource to achieve complex tasks. Via extensive simulations based on a dynamic truss-frame model, this study shows that an origami structure can perform as a dynamic reservoir with sufficient computing power to emulate high-order nonlinear systems, generate stable limit cycles, and modulate outputs according to dynamic inputs. This study also uncovers the linkages between the origami reservoir's physical designs and its computing power, offering a guideline to optimize the computing performance. Comprehensive parametric studies show that selecting optimal feedback crease distribution and fine-tuning the underlying origami folding designs are the most effective approach to improve computing performance. Furthermore, this study shows how origami's physical reservoir computing power can apply to soft robotic control problems by a case study of earthworm-like peristaltic crawling without traditional controllers. These results can pave the way for origami-based robots with embodied mechanical intelligence.
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Affiliation(s)
- Priyanka Bhovad
- Department of Mechanical Engineering, Clemson University, Clemson, SC, USA.
| | - Suyi Li
- Department of Mechanical Engineering, Clemson University, Clemson, SC, USA
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Ito F, Kawaguchi T, Yamada Y, Nakamura T. Development of a Peristaltic-Movement Duct-Cleaning Robot for Application to Actual Environment - Examination of Brush Type and Installation Method to Improve Cleaning Efficiency –. JOURNAL OF ROBOTICS AND MECHATRONICS 2019. [DOI: 10.20965/jrm.2019.p0781] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
This paper describes a method to increase both the cleaning performance and speed of a peristaltic duct-cleaning robot, besides the cleaning of a real house duct. Duct piping ventilation is an important component for safeguarding indoor human health. However, dust accumulates inside such ducts during long-term use of ventilation systems. This dust leads to the generation of bacteria, dispersal of which can cause serious human health problems. Therefore, it is necessary to clean such ducts. The ducts used in factories, for example, have a large cross-sectional area and so are easy to clean by conventional duct-cleaning methods. However, as housing ducts have a small cross-sectional area and many curves, they are difficult to clean via the passive method of inserting a cleaning tool through the duct ports. For this reason, the authors attempted to develop a method of duct cleaning using a robot that imitates the peristaltic movement of earthworms. Herein, the authors examine the type and mounting position of the cleaning brush that produces the optimum cleaning efficiency. From this, we confirmed the duct cleanability of the peristaltic robot.
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Driving Mechanisms, Motion, and Mechanics of Screw Drive In-Pipe Robots: A Review. APPLIED SCIENCES-BASEL 2019. [DOI: 10.3390/app9122514] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
In recent years, interest in in-pipe robot research has been steadily increasing. This phenomenon reflects the necessity and urgency of pipe inspection and rehabilitation as several pipe networks have become outdated around the globe. In-pipe robots can be divided into several groups in accordance with their locomotion principles, each with its own advantages and best suited application scope. Research on the screw drive in-pipe robot (SDIR) has had a rising trend due to the robot’s simple driving mechanism design and numerous advantages. This study compares and analyzes the characteristics of various SDIRs from the aspects of mechanism design, driving principle, and motion and mechanical behaviors. Each SDIR has its own advantages and disadvantages depending on its design requirements and intended applications. A number of prototypes have been fabricated to verify their functionality and efficiency in inspection tasks. This study can provide an up-to-date reference for researchers to conduct further analysis on SDIRs.
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A Worm-Inspired Robot Flexibly Steering on Horizontal and Vertical Surfaces. APPLIED SCIENCES-BASEL 2019. [DOI: 10.3390/app9102168] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Based on the motion principle of bionic earthworms, we designed and fabricated a novel crawling robot driven by pneumatic power. Its structure is divided into four segments, and its motion process is periodic with high stability. Due to the pneumatic suction cups mounted on its feet, it is able to crawl on smooth horizontal, inclined, or vertical walls. On this basis, we designed a novel underactuated steering mechanism. Through the tendons on both sides and the springs installed on the side of the robot, we accurately controlled the steering motion of the robot. We analyzed the steering process in detail, calculated the influence of external parameters on the steering process of the robot, and simulated the trajectory of the robot in the steering process. The experimental results validated our analysis. In addition, we calculate the maximum thrust that each segment of the robot can provide, and determine the maximum load that the robot can bear during climbing motions.
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