WORM-IMITATED CRAWLING SOFT ROBOT BASED ON CHEMICAL EXERGONIC REACTION DRIVING

摘要

A worm-imitated crawling soft robot based on chemical exergonic reaction driving, the soft robot comprising a body system, an exergonic reaction system and a vacuum system, wherein the body system comprises a left head shell (1), a left flexible body shell (2), a left reaction chamber (3), a right reaction chamber (4), a right flexible body shell (5) and a right head shell (6) which are sequentially connected, an elastic transmission component (7) being mounted inside a flexible body shell in a matching manner; the exergonic reaction system comprises a chemical fuel storage unit (8) and an exergonic reaction excitation device (9); and the vacuum system comprises a vacuum sucker (10), a vacuum air-suction pipe (11) and a vacuum pump (12). The soft robot has the advantages of low manufacturing cost, a simple structure, high environmental adaptability, being easily driven, etc., and can move forwards and backwards. Furthermore, different parts of the flexible body shell use flexible materials with different rigidities, such that the soft robot can make a turning motion.