兼具跳躍與爬行之軟性爬管機器人研究

Soft Jumping and Crawling Robot for In-pipe Travelling

葉昭勇(Chao-Yung Yeh)

指導教授 ： 莊嘉揚

國立臺灣大學/工學院/機械工程學研究所/碩士(2020年)

https://doi.org/10.6342/NTU202000695

摘要

在這份研究中，我們延續先前的研究設計了一款全新的軟性爬管機器人，同時具備軟性機器人輕巧簡單與剛性機器人快速的特點。機器人的運動原理是依靠馬達拉線並帶動薄片挫屈，利用薄片間不同的挫屈與釋放順序可以讓機器人前爬、後爬與跳躍於各種環境中。透過實驗與有限元素法的結合，我們能夠優化薄片的幾何形狀，讓運動的效率大幅提升。機器人最大的優勢是我們只需要兩個驅動器即能完成他人需要三個或以上的驅動器才能達成的目標，減少驅動器代表提高了機器人的穩定性與減少機器人的成本。此外，我們的機器人延續了軟性機器人柔軟、適應性強與製造簡單的優點，大幅降低機器人製造與對管壁傷害的成本。

關鍵字

挫屈 ； 軟性機器人 ； 爬管 ； 跳躍

並列摘要

We develop a new class of soft in-pipe robot with relatively simple structure and adaptable to environmental changes. The movement of the robot primarily uses the motor to reel cables and makes elastic ribbons buckle so the robot can crawl and jump inside horizontal, vertical, and curved tubes. The motion of the robot is enabled by the controlled buckling of the elastic ribbons. The ribbons are easy to manufacture, have high stability, and less likely to damage the tubes. Our robot can continuously move, jump or crawl, by controlling the motor to reel or release the cables, causing the ribbons to buckle and restored. In addition to the unique driving method, the robot uses only two actuators to generate multiple locomotion modes. Such a functionality is fundamentally different from the traditional in-pipe robot. Our findings may shed light on the development of in-pipe robots with new functionality and applications.

並列關鍵字

buckle, multimodal robots ； soft robots ； tube crawling ； tube jumping

參考文獻

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