A Twisted and Coiled Polymer Artificial Muscles Driven Soft Crawling Robot Based on Enhanced Antagonistic Configuration

A Twisted and Coiled Polymer Artificial Muscles Driven Soft Crawling Robot Based on Enhanced Antagonistic Configuration

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Twisted and coiled polymer (TCP) actuators are becoming increasingly prevalent in soft robotic fields due to their powerful and hysteresis-free stroke, large specific work density, and ease of fabrication.This paper life extension blueberry extract presents a soft crawling robot with spike-inspired robot feet which can deform and crawl like an inchworm.The robot mainly consists of two leaf springs, connection part, robot feet, and two TCP actuators.A system level model of a soft crawling knowall.blog robot is presented for flexible and effective locomotion.Such a model can offer high-efficiency design and flexible locomotion of the crawling robot.

Results show that the soft crawling robot can move at a speed of 0.275 mm/s when TCP is powered at 24 V.