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The inchworm actuator is widely applied in space industry. One of the major issues in space instrumentation is the reliability, especially under space thermal load. The purpose of this paper is to present a numerical calculation method for the inchworm actuator reliability with considering the effect of space temperature.

First, the structure of designed inchworm actuator is introduced, and the main failure reason is analyzed. Then the wear model is proposed with considering the space temperature, and an experiment device is designed to verify the wear model. Finally, the reliability calculation method is developed based on the working principle of the inchworm actuator.

The numerical calculation method can be applied to calculate the reliability of the inchworm actuator with considering the space temperature. And the results provide a new perspective to discuss the influences of the temperature and driving voltage on the reliability of inchworm actuators.

This work presents a reliability calculation method of inchworm actuators with considering the space temperature.

The purpose of this paper is to review the current application areas of shape memory alloy (SMA) actuators in intelligent robotic systems and devices.

This paper analyses how actuation and sensing functions of the SMA actuator have been exploited and incorporated in micro and macro robotic devices, developed for medical and non‐medical applications. The speed of response of SMA actuator mostly depends upon its shape and size, addition and removal of heat and the bias force applied. All these factors have impact on the overall size of the robotic device and the degree of freedom (dof) obtained and hence, a comprehensive survey is made highlighting these aspects. Also described are the mechatronic aspects like the software and hardware used in an industrial environment for the control of such nonlinear actuator and the type of sensory feedback devices incorporated for obtaining better control, positioning accuracy and fast response.

SMA actuators find wide applications in various facets of robotic equipments. Selecting a suitable shape, fast heating and cooling method and better intelligent control technique with or without feedback devices could optimize its performance.

The frequency of SMA actuation purely depends on the rate of heat energy added to and removed from the actuator, which in turn depends upon interrelated nonlinear parameters.

For increasing the dof of robots, number of actuators also have to be increased that leads to complex control problems.

Explains the suitability of SMA as actuators in smart robotic systems, possibility of miniaturisation. It also highlights the difficulties faced by the SMA research community.

The purpose of this study is to develop a novel approach to designing locally programmed multi-material distribution in a three-dimensional (3D) model, with the goal of producing a biomimetic robot that could mimic the locomotion of living organisms.

A voxelized representation is used to design the multi-material digital model and the material distribution in the model is optimized with the aims of mimicking the deflection dynamics of a real-life biological structure (i.e. inchworms) during its locomotion and achieving smooth deflection between adjacent regions. The design is validated post-fabrication by comparing the bending profiles of the printed robot with the deflection reference images of the real-life organism.

The proposed design framework in this study provides a foundation for multi-material multi-functional design for biomimicry and a wide range of applications in the manufacturing field and many other fields such as robotics and biomedical fields. The final optimized material design was 3D printed using a novel multi-material additive manufacturing method, magnetic field-assisted projection stereolithography. From the experimental tests, it was observed that the deflection curve and the deflection gradient of the printed robot within the adjacent regions of the body agreed well with the profiles taken from the real-life inchworm.

This paper presents a voxelized digital representation of the material distribution in printed parts, allowing spatially varied programming of material properties. The incorporation of reference images from living organisms into the design approach is a novel approach to transform image domain knowledge into the domain of engineering mechanical and material properties. Furthermore, the novel multi-material distribution design approach was validated through designing, 3D printing and prototyping an inchworm-inspired soft robot, which showed superior locomotion capability by mimicking the observed locomotion of the real inchworm.

The purpose of this paper is to propose a high‐mobility in‐pipe robot platform and its navigation strategy for navigating in T‐branch pipes efficiently.

For high mobility, this robot is developed based on inchworm locomotion. An extensor mechanism with flexible links and clamper mechanisms enable the robot to conduct both steering and inchworm locomotion. The locomotion of the robot is modeled based on a pseudo‐rigid‐body model. From the developed model, this paper introduces a navigation strategy based on defining relay points and generating a path from a main pipe to a T‐branch pipe.

With this navigation strategy, the robot can avoid collisions and enter T‐branch pipes effectively. The path generation algorithm is verified by experiment. In addition, both the navigation strategy and mobility of the robot are demonstrated by experiments conducted in a commercial pipe configuration.

This paper describes the mechanism of an inchworm‐type in‐pipe robot that is able to steer and adapt to pipe diameter changes. This paper also describes navigation strategy that enables a robot to avoid collisions and enter T‐branch pipes effectively. This research will help the construction of a fully autonomous in‐pipe robot that can navigate through various types of pipes.

Soft rod-climbing robots have been known to have great potential in a wide variety of working conditions, including cable inspection and pipeline maintenance. However, one of the most notable issues preventing their popular adoption is their inability to effectively cross obstacles or transfer between rods. To overcome these difficulties, this paper aims to propose an inchworm-inspired soft robot with omni-directional steering.

Theoretical models are first established to analyze the telescopic deformation, bending, steering and climbing ability of the soft robot. The main modes of movement the soft robot is expected to encounter is then determined through controlled testing so to verify their effectiveness (those being rod climbing, steering and obstacle surmounting).

The soft robot demonstrated a capability to cross obstacles 1.3 times its own width and bend 120° omni-directionally, evidencing outstanding abilities in both omni-directional steering and obstacle surmounting. In addition, the soft robot also exhibited acceptable climbing performance in a variety of working conditions such as climbing along vertical rods, transferring between rods with differing diameters or friction surfaces and bearing a payload.

The soft robot proposed in this paper possesses abilities that are both exceptional and crucial for practical use, specifically with regard to its omni-directional steering and obstacle surmounting.

The purpose of this paper is to describe the reviews of past research work on various in-pipe robotic systems and their operations. This investigation has been focussed on the implemented methodologies for performing in-pipe cleaning and inspection tasks.

This work has been concentrated on review of various sensors used in robots to perform in-pipes inspection operation for determining flaws/cracks, corrosion-affected areas, blocks and coated paint thickness. Various actuators like DC motors, servo motors, pneumatic operated and hydraulic operated are discussed in this review analysis to control the motion of various mechanical components of the robot.

In the current analysis, categorisation of various pipe cleaning robots according to their mechanical structure has been addressed. A lot of information has been gathered regarding the control of in-pipe robots for performing inspection and cleaning tasks.

In this paper, various in-pipe cleaning and inspection techniques have been studied. Necessary information provided regarding different types of in-pipe robots like PIG, wall-pressed, walking, wheel and inchworm. This investigation provides a through literature on various types of sensors like ultrasonic, magnetic, touch, light amplification by stimulated emission of radiation, X-ray, etc., that have been used for inspection and detection of flaws in the pipe.

The inspection and maintenance of small pipes with diameter of 1 in. or below are important tasks given the crucial role of these pipes in various applications, including power plants, nuclear facilities, and underwater systems. Miniature pipe robots (MPRs) are moving vehicles that could take the inspection sensors to the required place inside the pipelines. In this paper, the state‐of‐the‐art researches on MPRs are reviewed. Important design considerations are presented while introducing existing successful designs. The future work of MPRs is also outlined.

The purpose of this study is to propose an improved design of PneuNets bending actuator which aims at obtaining larger deflection with the same magnitude of pressure. The PneuNets bending actuator shows potential application in the morphing trailing edge concept.

Finite element method is used to investigate the characteristics of the improved design bending actuator. Multiobjective optimal design of the PneuNets bending actuator is proposed based on the Gauss process regression models.

The maximum deflection is obtained when the height of the beams is smaller than half the height of the chambers. The spacing between chambers (beam length) has little effect on the deflection. Larger spacing could be used to reduce the actuator weight.

With the same pressure magnitude, the deflection of the improved design bending actuator is much larger than that of the baseline configuration. PneuNets bending actuator could increase the continuity of the aerodynamic surface compared to other actuators.

The paper aims to promote the development of intelligent materials and the 4D printing technology by introducing recent advances and applications of additive layered manufacturing (ALM) technology of intelligent materials and the development of the 4D printing technology. Also, an arm-type ALM technology of shape memory polymer (SMP) with thermosetting polyurethane is briefly introduced.

This paper begins with an overview of the development and applications of intelligent materials around the world and the 4D printing technology. Then, the authors provide a brief outline of their research on arm-type ALM technology of SMP with thermosetting polyurethane.

The paper provides the recent developments and applications of intelligent materials and 4D printing technology. Then, it is suggested that intelligent materials mixed with different functional materials will be developed, and these types of materials will be more suitable for 4D printing.

This paper overviews the current developments and applications of intelligent materials and its use in 4D printing technology, and briefly states the authors’ research on arm-type ALM technology of SMP with thermosetting polyurethane.

The purpose of this paper is to describe a range of artificial muscle and soft gripping technologies for robotic applications.

Following a short introduction, this paper first discusses the role of air muscles and other pneumatic actuation technologies. It then considers electroactive polymer and shape‐memory alloys and finally discusses the prospects for various classes of electrohydrodynamic fluids.

This paper shows that a technologically diverse range of novel actuation techniques exist, or are under development, which can act as artificial muscles and soft grippers. They are based on pneumatics, shape changing materials and electrohydrodynamic fluids and have prospects to impart robots with improved or unique capabilities.

The paper provides an insight into developments in artificial muscle and soft gripping technologies. These are expected to play a vital role in future robot generations.