Design of a Soft Growing Robot as a Practical Example of Cyber–Physical Measurement Systems

摘要

Measurement and monitoring systems (MMSs) are intrinsically part of 4.0 and, in particular, of cyber-physical systems (CPSs). However, by introducing the 4.0 enabling technologies into MMSs, also the vice versa can be accomplished, and MMSs can evolve into a cyber-physical measurement system (CPMS). Starting from this consideration, in the present work, a preliminary case study of a CPMS is presented: an innovative robotic platform to be used for measurement systems in confined and constrained remote environments. The proposed system is a soft growing robot that includes a robot base, to be placed outside the remote environments, and a robot body that accesses the site through growth. A pneumatic actuation mechanism enables the controllable growth of the system (through lengthening at its tip), as well as its controllable steering. The system can be equipped with sensors to enable remote monitoring tasks, or can be used to transport sensors in remote locations. The ultimate goal is to achieve a self-adapting, fully-autonomous, reliable and safe system for monitoring applications, particularly useful for the remote inspection of unknown and/or constrained environments.