Inflatable-Structure-Based Working-Channel Securing Mechanism for Soft Growing Robots

Abstract

Soft growing robots are being used in various fields owing to their distinct advantages. However, their ability to manipulate tools in different applications is still challenging. In this letter, we propose an inflatable-structure-based working-channel securing mechanism for soft growing robots. The proposed mechanism provides a solution for securing a stable and accessible working channel with pressure equal to the atmospheric pressure, while maintaining the unique advantages of soft growing robots. The proposed soft growing robot can freely transfer materials and tools through its interior channel; therefore, it can adapt and replace equipment based on specific work requirements. This capability enhances the versatility and efficiency of the robot in various applications. Prototyping and experimental validation were conducted to show the performance and capabilities of the robot. The results of the experiments demonstrated that the soft growing robot effectively secured the working channel, enabling the transfer of materials and tools without interference from the inflation pressure. The accessibility of the secured channel was validated through slide-plate and pipe-pulling experiments. The demonstration of the growing mechanism confirmed the ability of the robot to secure a working channel during its growth, whereas the steering demonstration showcased its inherent steering function.