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

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr class="thead"><td class="align_left">Parameters</td><td class="align_center"><i>D</i><sub>2</sub></td><td class="align_center"><i>d</i><sub>2</sub></td><td class="align_center"><i>L</i><sub>2</sub></td><td class="align_center"><i>l</i><sub>2</sub></td><td class="align_center"><i>T</i><sub>2</sub></td><td class="align_center"><i>a</i></td></tr><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr><td class="align_left">Values (mm)</td><td class="align_center">20</td><td class="align_center">5</td><td class="align_center">45</td><td class="align_center">40</td><td class="align_center">2.5</td><td class="align_center">5</td></tr><tr class="table-tr"><td colspan="7"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

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

Applied Bionics and Biomechanics

tab3

Table 3

Table 3: Design and Motion Simulation of a Soft Robot for Crawling in Pipes 