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Design and Motion Analysis of a Wheel-walking Bionic Soft Robot

： Based on the movement model and the structural characteristics of worms, a bionic wheel-walking squirming soft robot with a double-cavity structure is proposed. The main body of the soft robot is made of hyperelastic silicon rubber, and its multi-air-bag structures would expand and extrude each other to bend the robot body when air at a certain pressure is pumped into the air bags. The inchworm-like peristaltic movement of the soft robot is realized by periodically charging and releasing air. In addition, the peristaltic motion of the soft robot is changed into rotational motion of the wheels to accelerate its moving speed because of the ingenious wheel-walking device. And a large angle turn can be achieved by fill the two chambers with air of different pressure. The periodic motion and steering movement of the squirming robot are analyzed. the nonlinear mechanical properties of the robot are studied. The relationship between the deformation and the pressure is tested when the two cavities are filled with air of same pressure. And the relationship the turning angle and the pressure is also tested when the single cavity is inflated. The maximum moving speed and the minimum turning radius of the soft robot are analyzed. Based on the results above, the motion performance of the soft robot is determined.