Robotics

Single-motor bots crawl, swim and climb with a wiggle and a wave

Single-motor bots crawl, swim and climb with a wiggle and a wave
A helix spine driven by a single motor produces forward or backward movement as 3D-printed links come into contact with the ground
A helix spine driven by a single motor produces forward or backward movement as 3D-printed links come into contact with the ground
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The wave motion mechanism can be produced in different sizes
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The wave motion mechanism can be produced in different sizes
A spiral-shaped rod is fed though linked 3D-printed slats running down the body
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A spiral-shaped rod is fed though linked 3D-printed slats running down the body
The continuous wave motion body is attached to a wheeled head, which is used for steering, not to aid locomotion
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The continuous wave motion body is attached to a wheeled head, which is used for steering, not to aid locomotion
A helix spine driven by a single motor produces forward or backward movement as 3D-printed links come into contact with the ground
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A helix spine driven by a single motor produces forward or backward movement as 3D-printed links come into contact with the ground
This version of SAW has spikes on some of the 3D-printed slats to help it move through sand at speed
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This version of SAW has spikes on some of the 3D-printed slats to help it move through sand at speed
A version of the SAW has been developed that's able to swim
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A version of the SAW has been developed that's able to swim
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Over the years, we've seen a number of robots inspired by the animals kingdom – from jumpers and crawlers to swimmers and fliers. Inspired by the movement of snakes, an Israeli research team has now developed a bot that's said to be the first in the world to produce pure wave motion using a single motor.

The Single Actuator Wave-like Robot (SAW) has been created by Dr. David Zarrouk, of the university's Mechanical Engineering Department, and a team of students at the Bioinspired and Medical Robotics lab. "The design was originally intended to be used for crawling inside the intestines as a self-propelled endoscope (for filming the intestines and biopsies)," Zarrouk told us. "I had been working on this subject for many years and a couple of years ago I came up with this design which produces continuously advancing wave."

Central to its novel movement is a spiral-shaped rod that's fed though linked 3D-printed slats running down the body. As the single motor rotates the helix spine, continuous wave motion of the body results and the links push forward or backward when they come into contact with the ground.

This dynamic motion is reported to allow the SAW to move over different surfaces (such as sand, grass or gravel) and climb over obstacles or through tunnels. The continuous wave motion body is attached to a wheeled head, which is used for steering, not to aid locomotion. There's even a waterproof version that can swim at 6 cm per second.

It's a quick mover, too, with a top speed of 57 cm per second. "We formulated the speed as a function of the speed wave, wave length, thickness of the wave and its amplitude, revealed Zarrouk. "We realized from our model that it possible for the robot to crawl even faster than its own wave speed and we managed to prove this experimentally (our robot with the "dentals" moved 13 percent faster than the speed of the advancing wave).

The wave motion mechanism can be produced in different sizes
The wave motion mechanism can be produced in different sizes

The wave motion mechanism can be produced in different sizes, scaling it up for search and rescue missions or shrinking down for medical applications.

"In the future, we intend to shrink it further to less than 1 cm in diameter (which is possible thanks to the simple design and single motor)," Zarrouk said. "We also intend to make possible larger version in which we attach two robots through an actuated U joint in order to replace the wheels. "

He also points to the wave bot being something of a tough cookie, easy to manufacture and reliable. "It is easy to manufacture because it has an extremely simple design," he explained. "It has a light weight and no need for complex controllers to make the wave motion. The power density is very high as all the work is being [undertaken] by a single motor with no "sleeping" motors. It almost doesn't break even though it is made of 3D-printed plastic. We made lots of runs on rough surfaces and the robot always succeeded in crawling over them in a single shot and no maintenance in between."

A paper on the SAW project has been published in the journal Bioinspiration & Biomimetics. You can see various SAW flavors in action in the video below.

Source: Ben-Gurion University of the Negev

Crawling, swimming and climbing with a 3D printed wave producing robot (SAW). (do the worm dance)

View gallery - 6 images
2 comments
2 comments
SaysMe
Freaky creapy worm robots are going to take over the world, by design... Pretty interesting that Theo Jansen recently made the beach worm Beest...
Kenlbear2
Just read "SevenEves" by Neal Stephenson. He describes a useful robot called a "siwi" that sounds a lot like this. Great invention!