Authors:

Ethan Michael DeVries

Date Created:

Not specified

Course Title:

Professor:

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About Paper:

Soft-growing robots excel in navigating complex environments, exhibiting dexterity, passive deformation, and dramatic extension in length. They are ideal for data collection in hazardous environments via cameras and other sensors. However, providing reliable power and data connections throughout the robot is challenging without limiting growth or steering. This research presents a potential solution, helical wire routing, and investigates the impact of this method on soft-growing robot performance. Two tests were conducted: an eversion test, for growth, and a quasi-static bending test, for steering. Variables examined include helix pitch, wire flexibility, number of wires, and wire spacing. Results verify that a straight wire causes a small bending radius in eversion, leading to skewed growth and increased resistance, potentially damaging the wire. In a helical routing, a small pitch (6in) slows growth due to cyclic speed fluctuations, while a large pitch (36in) slows due to wire bending resistance. For quasi-static bending, a straight wire performs best when aligned with the line of no compression but generally adds stiffness. A large pitch helical routing minimizes wire-induced stiffness and allows for compression areas between pitches. A medium pitch (12-18in) is the best pitch that balances growth and steering improvement. These findings are crucial for optimizing wire routing in soft- growing robots, ensuring consistent power and data supply with minimal performance impact, and enhancing functionality and environmental sensing. Keywords: [no keywords provided]

Source:

Purdue University / 2024

Topics:

No topics listed

Co-authors:

Ethan Michael DeVries