Dataset Information

Design and Actuation of a Fabric-Based Worm-Like Robot.

ABSTRACT: Soft-bodied animals, such as earthworms, are capable of contorting their body to squeeze through narrow spaces, create or enlarge burrows, and move on uneven ground. In many applications such as search and rescue, inspection of pipes and medical procedures, it may be useful to have a hollow-bodied robot with skin separating inside and outside. Textiles can be key to such skins. Inspired by earthworms, we developed two new robots: FabricWorm and MiniFabricWorm. We explored the application of fabric in soft robotics and how textile can be integrated along with other structural elements, such as three-dimensional (3D) printed parts, linear springs, and flexible nylon tubes. The structure of FabricWorm consists of one third the number of rigid pieces as compared to its predecessor Compliant Modular Mesh Worm-Steering (CMMWorm-S), while the structure of MiniFabricWorm consists of no rigid components. This article presents the design of such a mesh and its limitations in terms of structural softness. We experimentally measured the stiffness properties of these robots and compared them directly to its predecessors. FabricWorm and MiniFabricWorm are capable of peristaltic locomotion with a maximum speed of 33 cm/min (0.49 body-lengths/min) and 13.8 cm/min (0.25 body-lengths/min), respectively.

SUBMITTER: Kandhari A

PROVIDER: S-EPMC6477625 | biostudies-literature | 2019 Feb

REPOSITORIES: biostudies-literature

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Design and Actuation of a Fabric-Based Worm-Like Robot.

Kandhari Akhil A Mehringer Anna A Chiel Hillel J HJ Quinn Roger D RD Daltorio Kathryn A KA

Biomimetics (Basel, Switzerland) 20190206 1

Soft-bodied animals, such as earthworms, are capable of contorting their body to squeeze through narrow spaces, create or enlarge burrows, and move on uneven ground. In many applications such as search and rescue, inspection of pipes and medical procedures, it may be useful to have a hollow-bodied robot with skin separating inside and outside. Textiles can be key to such skins. Inspired by earthworms, we developed two new robots: FabricWorm and MiniFabricWorm. We explored the application of fabr ...[more]

PMID: 31105199

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Project description:Surface-initiated photopolymerization has been run to synthesize a hydrogel with ZnO particles distributed uniformly along its structure, which has been loaded onto a polyamide fabric. Three samples have been obtained at different concentrations of zinc nitrate (10% (sample PA10); 20% (sample PA20) and 30% (sample PA30) of the weight of the fabric, respectively)) and subjected to gravimetric analysis, scanning electron microscopy and transmission electron microscopy. The effect of the adsorption parameters of the composite material on the removal Drimaren Rot K-7B dye from water has been studied. The Freundlich isotherm describes this process better than the Langmuir isotherm. As the results of the adsorption kinetics show, the process fits well with a pseudo-second-order equation and depends both on the boundary layer and on the structure of the adsorbent itself. The thermodynamic parameters have demonstrated that the process is endothermic and physical. When exposed to ultraviolet light, the discoloration of the dye solution accelerates due to the photocatalytic properties of the composite materials. The addition of H2O2 also speeds up further the process, while the reuse of the materials slows it down, gradually changing the kinetic parameters. The reaction has been attributed to first-order kinetic model, when the active centers of the materials and the number of oxidative radicals formed are numerous and to the second-order kinetic model at a lower reaction activity. Moreover, 52% decolorization of the dye solution (50 mg L-1) in the dark was achieved from composite material PA 30 (13.3 g L-1) in 120 min and 89% under UV light irradiation. The H2O2 addition (0.14 mmol L-1) enhanced it up to 98%. In the second and third use of the photocatalyst, the dye removal decreased to 80% and 60%. Composite material PA30 exhibits antibacterial activity against Gram-negative bacteria E. coli, being most effective at eliminating Gram-positive bacteria S. aureus.

Dataset Information

Design and Actuation of a Fabric-Based Worm-Like Robot.

Publications

Design and Actuation of a Fabric-Based Worm-Like Robot.

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