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A Single-Joint Worm-like Robot Inspired by Geomagnetic Navigation

Dong Mei Orcid Logo, Xin Zhao Orcid Logo, Gangqiang Tang Orcid Logo, Jianfeng Wang, Chun Zhao, Chunxu Li Orcid Logo, Yanjie Wang

Machines, Volume: 10, Issue: 11, Start page: 1040

Swansea University Author: Chunxu Li Orcid Logo

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DOI (Published version): 10.3390/machines10111040

Abstract

Inspired by identifying directions through the geomagnetic field for migrating birds, in this work, we proposed and fabricated a single-joint worm-like robot with a centimeter scale, the motion of which could be easily guided by a magnet. The robot consists of a pneumatic deformable bellow and a per...

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Published in: Machines
ISSN: 2075-1702
Published: MDPI AG 2022
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URI: https://cronfa.swan.ac.uk/Record/cronfa66024
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The robot consists of a pneumatic deformable bellow and a permanent magnet fixed in the bellow’s head that will generate magnetic force and friction. Firstly, in order to clarify the actuating mechanism, we derived the relationship between the elongation of the bellows and the air pressure through the Yeoh constitutive model, which was utilized to optimize the structural parameters of the bellow. Then the casting method is introduced to fabricate the silicone bellow with a size of 20 mm in diameter and 28 mm in length. The manufacturing error of the bellow was evaluated by 3D laser scanning technology. Thereafter, the robot’s moving posture was analyzed by considering the force and corresponding motion state, and the analysis model was established by mechanics theory. The experimental results show that the worm-like robot’s maximum speed can reach 9.6 mm/s on the cardboard. Meanwhile, it exhibits excellent environmental adaptability that can move in pipelines with a diameter of 21 mm, 32 mm, 40 mm, and 50 mm, and surfaces with different roughness. Moreover, the robot’s motion was successfully guided under the presence of the magnetic field, which shows great potential for pipeline detection applications.</abstract><type>Journal Article</type><journal>Machines</journal><volume>10</volume><journalNumber>11</journalNumber><paginationStart>1040</paginationStart><paginationEnd/><publisher>MDPI AG</publisher><placeOfPublication/><isbnPrint/><isbnElectronic/><issnPrint/><issnElectronic>2075-1702</issnElectronic><keywords>worm-like robot; magnetic navigation; pneumatic actuator; structural design; fabrication; characterization; piping application</keywords><publishedDay>7</publishedDay><publishedMonth>11</publishedMonth><publishedYear>2022</publishedYear><publishedDate>2022-11-07</publishedDate><doi>10.3390/machines10111040</doi><url/><notes/><college>COLLEGE NANME</college><department>Aerospace, Civil, Electrical, and Mechanical Engineering</department><CollegeCode>COLLEGE CODE</CollegeCode><DepartmentCode>ACEM</DepartmentCode><institution>Swansea University</institution><apcterm>Another institution paid the OA fee</apcterm><funders>This research was supported by the National Key Research and Development Program of China (2020YFB1312900), the National Natural Science Foundation of China (51975184), the Changzhou Sci &amp; Tech Program (CE20215051), and the Fundamental Research Funds for the Central Universities (B210202124). 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spelling v2 66024 2024-04-09 A Single-Joint Worm-like Robot Inspired by Geomagnetic Navigation e6ed70d02c25b05ab52340312559d684 0000-0001-7851-0260 Chunxu Li Chunxu Li true false 2024-04-09 ACEM Inspired by identifying directions through the geomagnetic field for migrating birds, in this work, we proposed and fabricated a single-joint worm-like robot with a centimeter scale, the motion of which could be easily guided by a magnet. The robot consists of a pneumatic deformable bellow and a permanent magnet fixed in the bellow’s head that will generate magnetic force and friction. Firstly, in order to clarify the actuating mechanism, we derived the relationship between the elongation of the bellows and the air pressure through the Yeoh constitutive model, which was utilized to optimize the structural parameters of the bellow. Then the casting method is introduced to fabricate the silicone bellow with a size of 20 mm in diameter and 28 mm in length. The manufacturing error of the bellow was evaluated by 3D laser scanning technology. Thereafter, the robot’s moving posture was analyzed by considering the force and corresponding motion state, and the analysis model was established by mechanics theory. The experimental results show that the worm-like robot’s maximum speed can reach 9.6 mm/s on the cardboard. Meanwhile, it exhibits excellent environmental adaptability that can move in pipelines with a diameter of 21 mm, 32 mm, 40 mm, and 50 mm, and surfaces with different roughness. Moreover, the robot’s motion was successfully guided under the presence of the magnetic field, which shows great potential for pipeline detection applications. Journal Article Machines 10 11 1040 MDPI AG 2075-1702 worm-like robot; magnetic navigation; pneumatic actuator; structural design; fabrication; characterization; piping application 7 11 2022 2022-11-07 10.3390/machines10111040 COLLEGE NANME Aerospace, Civil, Electrical, and Mechanical Engineering COLLEGE CODE ACEM Swansea University Another institution paid the OA fee This research was supported by the National Key Research and Development Program of China (2020YFB1312900), the National Natural Science Foundation of China (51975184), the Changzhou Sci & Tech Program (CE20215051), and the Fundamental Research Funds for the Central Universities (B210202124). The authors gratefully acknowledge the support. 2024-05-22T15:13:41.4201007 2024-04-09T20:18:08.5137230 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Dong Mei 0000-0001-5943-9470 1 Xin Zhao 0000-0002-9698-8767 2 Gangqiang Tang 0000-0002-1994-8438 3 Jianfeng Wang 4 Chun Zhao 5 Chunxu Li 0000-0001-7851-0260 6 Yanjie Wang 7 66024__30438__9fc00de92c93482f81ec080b28526950.pdf 66024.VoR.pdf 2024-05-22T15:10:51.7091594 Output 9450351 application/pdf Version of Record true © 2022 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license. true eng https://creativecommons.org/licenses/by/4.0/
title A Single-Joint Worm-like Robot Inspired by Geomagnetic Navigation
spellingShingle A Single-Joint Worm-like Robot Inspired by Geomagnetic Navigation
Chunxu Li
title_short A Single-Joint Worm-like Robot Inspired by Geomagnetic Navigation
title_full A Single-Joint Worm-like Robot Inspired by Geomagnetic Navigation
title_fullStr A Single-Joint Worm-like Robot Inspired by Geomagnetic Navigation
title_full_unstemmed A Single-Joint Worm-like Robot Inspired by Geomagnetic Navigation
title_sort A Single-Joint Worm-like Robot Inspired by Geomagnetic Navigation
author_id_str_mv e6ed70d02c25b05ab52340312559d684
author_id_fullname_str_mv e6ed70d02c25b05ab52340312559d684_***_Chunxu Li
author Chunxu Li
author2 Dong Mei
Xin Zhao
Gangqiang Tang
Jianfeng Wang
Chun Zhao
Chunxu Li
Yanjie Wang
format Journal article
container_title Machines
container_volume 10
container_issue 11
container_start_page 1040
publishDate 2022
institution Swansea University
issn 2075-1702
doi_str_mv 10.3390/machines10111040
publisher MDPI AG
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering
document_store_str 1
active_str 0
description Inspired by identifying directions through the geomagnetic field for migrating birds, in this work, we proposed and fabricated a single-joint worm-like robot with a centimeter scale, the motion of which could be easily guided by a magnet. The robot consists of a pneumatic deformable bellow and a permanent magnet fixed in the bellow’s head that will generate magnetic force and friction. Firstly, in order to clarify the actuating mechanism, we derived the relationship between the elongation of the bellows and the air pressure through the Yeoh constitutive model, which was utilized to optimize the structural parameters of the bellow. Then the casting method is introduced to fabricate the silicone bellow with a size of 20 mm in diameter and 28 mm in length. The manufacturing error of the bellow was evaluated by 3D laser scanning technology. Thereafter, the robot’s moving posture was analyzed by considering the force and corresponding motion state, and the analysis model was established by mechanics theory. The experimental results show that the worm-like robot’s maximum speed can reach 9.6 mm/s on the cardboard. Meanwhile, it exhibits excellent environmental adaptability that can move in pipelines with a diameter of 21 mm, 32 mm, 40 mm, and 50 mm, and surfaces with different roughness. Moreover, the robot’s motion was successfully guided under the presence of the magnetic field, which shows great potential for pipeline detection applications.
published_date 2022-11-07T15:13:40Z
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score 11.012924

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