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<p>To address limitations of traditional rigid pole-climbing robots—including large volume and poor adaptability to rod diameter and shape—and existing soft pole-climbing robots such as single gait and imprecise modeling of irregular chambers and fiber constraints, this study designs a novel pneumatic soft pole-climbing robot. It innovatively develops a four-cavity soft actuator and a trapezoidal soft actuator: the former uses helical fibers to enhance stiffness and suppress radial expansion, while the latter adopts trapezoidal airbag to realize directional bending. Based on the Yeoh hyperelastic model, a modified “pressure-deformation” model is established, which redefines load calculation for irregular chambers and adds stress compensation for fiber constraints to improve prediction accuracy. Simulations show high consistency with theoretical results, with standard deviation of 0.5&#xa0;mm for trunk actuator elongation and 0.0316&#xa0;rad for bending angle. Experiments confirm the 200&#xa0;g robot achieves three gaits: unloaded climbing speed of 12.5&#xa0;mm/s on 80&#xa0;mm-diameter pipes and 10&#xa0;mm/s with 200&#xa0;g load, 90 ° steering in 7.2s, and crossing rods with 150&#xa0;mm center-to-center distance in 4.07s. It can climb 60–80&#xa0;mm-diameter pipes, 45 °/90 ° bent pipes and square pipes, showing strong environmental adaptability.</p>

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A pneumatic soft pole-climbing robot with multi-gait function

  • 期刊论文

  • 发表日期：

    2026年2月11日

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  • Dedong Tang,
  • Zhicheng Zhu,
  • Wenzhuo Yu,
  • Xingyu Chen

摘要

To address limitations of traditional rigid pole-climbing robots—including large volume and poor adaptability to rod diameter and shape—and existing soft pole-climbing robots such as single gait and imprecise modeling of irregular chambers and fiber constraints, this study designs a novel pneumatic soft pole-climbing robot. It innovatively develops a four-cavity soft actuator and a trapezoidal soft actuator: the former uses helical fibers to enhance stiffness and suppress radial expansion, while the latter adopts trapezoidal airbag to realize directional bending. Based on the Yeoh hyperelastic model, a modified “pressure-deformation” model is established, which redefines load calculation for irregular chambers and adds stress compensation for fiber constraints to improve prediction accuracy. Simulations show high consistency with theoretical results, with standard deviation of 0.5 mm for trunk actuator elongation and 0.0316 rad for bending angle. Experiments confirm the 200 g robot achieves three gaits: unloaded climbing speed of 12.5 mm/s on 80 mm-diameter pipes and 10 mm/s with 200 g load, 90 ° steering in 7.2s, and crossing rods with 150 mm center-to-center distance in 4.07s. It can climb 60–80 mm-diameter pipes, 45 °/90 ° bent pipes and square pipes, showing strong environmental adaptability.