基于纤维-气动耦合的变刚度蛇形机器人分层驱动器设计及其多步态研究OA

To address the issues of wheeled snake robots,such as easy toppling and poor adaptability in complex terrains,a pneumatic snake robot with multiple gaits was proposed based on the principle of fi-ber interference variable stiffness.The robot used a triple-layer structure pneumatic actuator to dynamically adjust stiffness via air pressure.The modular design integrated components such as air pumps,electromag-netic valves,and unidirectional wheels.The experimental results show that the bending angle of the actua-tor is positively correlated with the air pressure.The design of dual-cavity combined with fiber reinforce-ment significantly enhances the load-bearing capacity.By coordinating the steering and load-bearing actua-tors,the robot may perform serpentine linear motion,C-shaped turns,and accordion-like motion,even crossing obstacles a third of the height.The modular structure reduces maintenance costs and supports rapid functional expansion.These findings offer an efficient actuation solution for wheeled soft snake ro-bots,and support applications in complex scenarios such as rescue and pipe inspection.