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Proceedings Paper

Pneumatic squirming robot based on flexible pneumatic actuator
Author(s): Qinghua Yang; Libin Zhang; Guanjun Bao; Jian Ruan
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Paper Abstract

The design of a kind of pneumatic squirming robot is presented. It is based on the use of flexible pneumatic actuator. The flexible pneumatic actuator was made of caoutchouc. Its working principle is described. The structure, working principle, pneumatic and electrical control system of the pneumatic squirming robot are designed. All of the actuator's driving and squirming parts are composed of pneumatic elements. The vacuum osculums, which act as feet, are connected to the flexible pneumatic actuator. When the vacuum pumps operate, vacuum will be produced in the corresponding osculums, which can adsorb on the contacting surface and orient the robot. The actuator, operating under air pressure, drives the robot. By controlling the vacuum pumps and the actuator, straight and bending squirming of this robot can be obtained.

Paper Details

Date Published: 2 May 2006
PDF: 5 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60422W (2 May 2006); doi: 10.1117/12.664679
Show Author Affiliations
Qinghua Yang, Zhejiang Univ. of Technology (China)
Libin Zhang, Zhejiang Univ. of Technology (China)
Guanjun Bao, Zhejiang Univ. of Technology (China)
Jian Ruan, Zhejiang Univ. of Technology (China)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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