Peristaltic Motion Enabled by Pneumatic Artificial Muscles (PAMs) as Structural "Soft-Stiff" Actuators in a Modular Worm-Inspired Robot.

ABSTRACT: This paper considers the design, manufacture, and testing of a prototype "soft-stiff" worm-inspired robot referred to herein, as the PneumaticallyActuated PeristaLtic Advancing Modular (PALAM) robot. The robot has a modular structure, mimicking the segmented nature of earthworms, and each segment is individually actuated by a set of three pneumatic artificial muscles (PAMs). The PAMs contract when inflated by pressurised air, generating a pulling force and fulfilling the role of biological muscles in the robot. The PAMs are made from the elastomer silicone rubber, which affords the robot flexibility and enables a wide range of real-life applications. A control-system is designed which can inflate any PAM on demand, and hence replicate the peristaltic moti

SUBMITTER: Tinsley B 

PROVIDER: S-EPMC11351744 | biostudies-literature | 2024 Jul

REPOSITORIES: biostudies-literature