Bio-Inspired Pneumatic Modular Soft Robots

Zilong Xie

doi:10.1002/rob.70183

2026-02-01

PRE

DOI：10.1002/rob.70183

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摘要

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传统刚性机器人在适应复杂场景（如灾后救援和管道检测）方面存在困难。为解决此问题，我们提出了一种基于可伸展麦基本人工肌肉的螺旋执行器和弯曲执行器。通过调整增强纤维的缠绕角度，执行器可在弯曲变形和螺旋变形之间切换。此外，提出了理论模型以预测执行器的变形行为，并通过实验验证。这些执行器可作为构建具有多样化能力的软机器人的模块化组件。本文设计了四种不同的模块化软机器人，包括藤蔓启发的螺旋夹持器、章鱼启发的软夹持器、蛇启发的爬行机器人和猴子启发的双杆爬行机器人。实验表明，模块化软机器人在多样化非结构化环境中执行维护、检测、监控和操作等任务方面具有巨大潜力。

Keyword:

crawling performance

modular design

pneumatic artificial muscle

soft robot

期刊

Journal of Field Robotics

IF:

5.2

论文数:

1.7K

被引数:

6.0K

机构

nanjing university of aeronautics & astronautics

学者数:

1.9K

论文数: 653

被引数: 0

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