Design and Mechanical Analysis of a Novel Modular Bionic Earthworm Robot with Upright Functionality

Design and Mechanical Analysis of a Novel Modular Bionic Earthworm Robot with Upright Functionality | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Design and Mechanical Analysis of a Novel Modular Bionic Earthworm Robot with Upright Functionality Shufeng Tang, Jianan Yao, Yue Yu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-5322735/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 30 Jan, 2025 Read the published version in Scientific Reports → Version 1 posted 11 You are reading this latest preprint version Abstract With the escalating demand for exploration within confined spaces, bionic design methodologies have attracted considerable attention from researchers, primarily due to the intrinsic limitations of human access to hazardous environments. However, contemporary bionic robots primarily attain linear motion through the axial radial deformation of their body segments, thereby lacking the upright functionality that is characteristic of these organisms. In response to the limitations associated with current bionic earthworm robots concerning upright capability and stiffness modulation, we propose an innovative bionic robot that incorporates upright functionality and programmable stiffness. Initially, we present a bionic robot unit module that is capable of attaining an upright posture. A mechanical model is established in accordance with the principle of minimum potential energy to facilitate various compression and deflection functionalities. Through comprehensive simulation and experimental studies, we validate the model's high precision in predicting compression and deformation behaviors. Furthermore, the effects of varying spring stiffness values (k) on device performance are systematically investigated, thereby enabling tailored stiffness adjustments for each module. This programmability empowers the robot to adapt to a broader spectrum of environmental demands. Ultimately, we construct a multi-module robot and successfully evaluate its upright functionality under diverse compression and deformation conditions. The proposed bionic structure, characterized by its enhanced ease of control and programmable stiffness, exhibits considerable potential for applications in complex and unstructured environments. Physical sciences/Engineering Physical sciences/Engineering/Mechanical engineering Full Text Additional Declarations No competing interests reported. Supplementary Files SupplementaryVideoS1.mp4 SupplementaryVideoS2.mp4 SupplementaryVideoS3.mp4 Cite Share Download PDF Status: Published Journal Publication published 30 Jan, 2025 Read the published version in Scientific Reports → Version 1 posted Editorial decision: Revision requested 24 Dec, 2024 Reviews received at journal 24 Dec, 2024 Reviewers agreed at journal 18 Dec, 2024 Reviews received at journal 22 Nov, 2024 Reviewers agreed at journal 30 Oct, 2024 Reviewers agreed at journal 29 Oct, 2024 Reviewers invited by journal 29 Oct, 2024 Editor assigned by journal 29 Oct, 2024 Editor invited by journal 25 Oct, 2024 Submission checks completed at journal 24 Oct, 2024 First submitted to journal 24 Oct, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-5322735","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":372112178,"identity":"f3b1ade5-1a87-4d66-bfe2-2fc8af3d6c54","order_by":0,"name":"Shufeng 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