A Multi-unit Creeping Robot Based on Earthworm Principle

The structure and locomotion principle of the multi unit creeping robot are introduced. The kinematic model is built and analyzed, and the control blocks and software design are discussed in detail. Some actuating experiments have been done when the micro robot creeps in the declining rubber tubes. The experimental results show that this micro robot can move reliably in horizontal and certain declining curving tubes. The temperature of robot is under 35℃ when it moves continually. The robot moves freely when the curve radius is more than 36mm. This research has laid a foundation for the development of miniature robots used in unstructured environments such as limited spaces and intestinal tract.