Design and Motion Simulation of a Soft Robot for Crawling in Pipes

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td class="align_left">Parameters</td><td class="align_center"><i>D</i><sub>1</sub></td><td class="align_center"><i>d</i><sub>1</sub></td><td class="align_center"><i>L</i><sub>1</sub></td><td class="align_center"><i>l</i><sub>1</sub></td><td class="align_center"><i>T</i><sub>1</sub></td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td class="align_left">Values (mm)</td><td class="align_center">10</td><td class="align_center">6</td><td class="align_center">60</td><td class="align_center">55</td><td class="align_center">2</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The parameters of expansion part.</div>

Applied Bionics and Biomechanics

tab1

Table 1

Table 1: Design and Motion Simulation of a Soft Robot for Crawling in Pipes 