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Design and analysis of an untethered micro flapping robot which can glide on the water

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Science China(Technological Sciences) 2022年第8期65卷 1749-1759页

作者： CHEN YanHong LIU YiDe LIU TaiShan LI Hua qu shaoxing YANG Wei State Key Laboratory of Fluid Power&Mechatronic System Key Laboratory of Soft Machines and Smart Devices of Zhejiang ProvincesCenter for X-MechanicsDepartment of Engineering MechanicsZhejiang UniversityHangzhou 310027China

Flapping-wing flying insects possess various advantages,such as high agility and efficiency.The design and manufacture of insect-scale flapping-wing micro aerial vehicle(FWMAV)have attracted increasing attention in recent decades.Due to the limitations of size and weight,the FWMAV with an onboard battery which can fully mimic insect flight has not been achieved.In this work,we design and fabricate a highly integrated flapping-wing microrobot named Robomoth.The Robomoth consists of a carbon chassis,customized power and control devices,and two piezoelectric ceramic actuators symmetrically distributed in the thorax and controlled individually.It weighs 2.487 g,spans 5.9 cm in length,possesses 9 cm of wingspan,and carries a 0.355 g rechargeable lithium battery.We demonstrate the mobility of the Robomoth through untethered gliding and making turns on the water surface.A simplified dynamic model of the flapping system is proposed to explain the relationship between the driving frequency and the flapping amplitude.The Robomoth is one new untethered bioinspired flapping-wing robot that can perform stable water surface motion,which holds potential applications such as search and rescue on the water.The robot can also provide insight for designing insect-scale flying vehicles.

关键词： micro/nanorobots biologically inspired robots flapping-wing flying piezoelectric ceramic actuator

智能软材料多场耦合本构理论及其在软体机器中的应用

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中国科学：物理学、力学、天文学 2024年第6期54卷 2-14页

作者：肖锐钱劲曲绍兴浣江实验室诸暨311800 浙江大学工程力学系浙江省软体机器人与智能器件研究重点实验室杭州310027

智能软材料能在外场作用下产生激励效应,且其智能响应行为与大变形深度耦合,这对建立其力学本构理论提出了重要挑战.本文以形状记忆聚合物、液晶弹性体、介电弹性体、磁敏弹性体、智能水凝胶为代表性智能软材料,介绍了上述材料的发展概... 详细信息

智能软材料能在外场作用下产生激励效应,且其智能响应行为与大变形深度耦合,这对建立其力学本构理论提出了重要挑战.本文以形状记忆聚合物、液晶弹性体、介电弹性体、磁敏弹性体、智能水凝胶为代表性智能软材料,介绍了上述材料的发展概况以及在相关多场耦合本构理论领域的进展.智能软材料在软体机器人领域也有着广泛的应用前景,因此,本文也将探讨基于软材料多场耦合理论模型来设计软体机器人的现状以及不足之处,以期为后续该领域的发展提供借鉴.

关键词：软材料软体机器人多场耦合

A chemo-mechanical model for fully-coupled lithiation reaction and stress generation in viscoplastic lithiated silicon

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Science China(Technological Sciences) 2019年第8期62卷 1365-1374页

作者： BUREBI Yi Ming JIA Zheng qu shaoxing Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Center for X-MechanicsDepartment of Engineering MechanicsZhejiang University

Development of stresses in silicon(Si) anodes of lithium-ion batteries is strongly affected by its mechanical properties. Recent experiments reveal that the mechanical behavior of lithiated silicon is viscoplastic, thereby indicating that lithiation-induced mechanical stresses are dependent on the lithiation reaction rate. Experimental evidence also accumulates that the rate of lithiation reaction is conversely affected by the magnitude of mechanical stresses. These experimental observations demonstrate that lithiation reaction and stress generation in silicon anodes are fully coupled. In this work, we formulate a chemo-mechanical model considering the two-way coupling between lithiation reaction and viscoplastic deformation in silicon nanoparticle anodes.Based on the model, the position of the lithiation interface, the interface velocity, and the lithiation-induced stresses can be solved simultaneously via numerical methods. The predicted interface velocity is in line with experimental measurements reported in the literature. We demonstrate that the lithiation-induced stress field depends on the lithiation reaction through two parameters:the migration velocity and the position of the lithiation interface. We identify a stress-mitigation mechanism in viscoplastic silicon anodes: the stress-regulated lithiation reaction at the interface serves as a "brake" to reduce the interface velocity and mitigate the lithiation-induced stresses, protecting the Si nanoparticle anode from being subjected to excessive mechanical stresses.

关键词： lithium-ion battery lithiation-induced stress stress-regulated lithiation viscoplasticity

Functional hydrogel coatings

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National Science Review 2021年第2期8卷 151-169页

作者： Junjie Liu shaoxing qu Zhigang Suo Wei Yang Center for X-Mechanics Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province and Department of Engineering MechanicsZhejiang University State Key Laboratory of Fluid Power and Mechatronic System Zhejiang University Applied Mechanics and Structure Safety Key Laboratory of Sichuan Province School of Mechanics and EngineeringSouthwest Jiaotong University John A.Paulson School of Engineering and Applied Sciences Kavli Institute for Bionano Science and TechnologyHarvard University

Hydrogels—natural or synthetic polymer networks that swell in water—can be made mechanically,chemically and electrically compatible with living tissues. There has been intense research and development of hydrogels for medical applications since the invention of hydrogel contact lenses in 1960. More recently,functional hydrogel coatings with controlled thickness and tough adhesion have been achieved on various substrates. Hydrogel-coated substrates combine the advantages of hydrogels, such as lubricity,biocompatibility and anti-biofouling properties, with the advantages of substrates, such as stiffness,toughness and strength. In this review, we focus on three aspects of functional hydrogel coatings:(i) applications and functions enabled by hydrogel coatings,(ii) methods of coating various substrates with different functional hydrogels with tough adhesion, and(iii) tests to evaluate the adhesion between functional hydrogel coatings and substrates. Conclusions and outlook are given at the end of this review.

关键词： hydrogel coatings coating methods coating tests adhesion hydrogel applications

Inclusion Size Effect on Mechanical Properties of Particle Hydrogel Composite

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Acta Mechanica Solida Sinica 2019年第5期32卷 643-651页

作者： Xiaocheng Hu shaoxing qu State Key Laboratory of Fluid Power and Mechatronic System Key Laboratory of Soft Machines and Smart Devices of Zhejiang ProvinceDepartment of Engineering Mechanics38 Zheda RoadHangzhou 310027China

Particle hydrogel composite(PHC)combines the characteristics of at least two mat erials and has pot ential applications in many fields.Different functions require the particle size to range from nanometer to millimeter,which has a noticeable effect on the mechanical properties of the hydrogel composites.In this paper,the mechanical properties of silica-inlaid PAAM hydrogel are measured with various particle diameters from 75 nm to 50|im.Experimental results show no obvious size effect on the mechanical properties of PHC when the particle diameter falls in micron scale.However,as the particle size decreases to nanoscale,the modulus of the PHC begins to increase rapidly.The size-irrelevant moduli and stress fields of PHCs with random and uniform particle distributions under different loading conditions are obtained based on the finite element method.Meanwhile,the toughening mechanism and the failure of the PHC are investigated.The size-irrelevant modulus of the PHC is also predicted by the equivalent inclusion theory.Finally,the interaction between the hydrogel polymer chains and the particles is described from the microscopic point of view,requiring the nanoscale size-dependent theory and new experimental approach to further explore the mechanical proper ties of PHC.

关键词： Particle hydrogel composite Size effect Finite element method

A FINITE ELEMENT METHOD FOR DIELECTRIC ELASTOMER TRANSDUCERS

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Acta Mechanica Solida Sinica 2012年第5期25卷 459-466页

作者： shaoxing qu Zhigang Suo Department of Engineering Mechanics Zhejiang UniversityHangzhou 310027China Soft Matter Research Center(SMRC) Zhejiang UniversityHangzhou 310027China School of Engineering and Applied Sciences Harvard UniversityCambridgeMA 02138USA

We present a finite element method for dielectric elastomer （DE） transducers based on the nonlinear field theory of DE. The method is implemented in the commercial finite element software ABAquS, which provides a large library functions to describe finite elasticity. This method can be used to solve electromechanical coupling problems of DE transducers with complex configurations and under inhomogeneous deformation.

关键词： finite element method dielectric elastomer electromechanical coupling

X-Mechanics——An endless frontier

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Science China(Physics,Mechanics & Astronomy) 2019年第1期62卷 1-8页

作者： Wei Yang HongTao Wang TieFeng Li shaoxing qu Center for X-Mechanics Zhejiang University Institute of Applied Mechanics Zhejiang University Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Zhejiang University

In contrast to the conventional wisdom that mechanics is a relatively mature subject, the new manifestation of mechanics in an extended or crossed form is unfolding. Mechanics is now powering all subjects, from physical sciences, life sciences to social sciences. We name this new phase for the development of mechanics X-Mechanics. The present article outlines the contents of X-Mechanics from four aspects: cross media, cross scales, cross compliances, and cross cyber/physical spaces. X-Mechanics constitutes an endless frontier of science and technology.

关键词： X-Mechanics soft matters multi-scales multi-physics adaptive

Preface:Mechanics of soft materials and lexible structures

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Acta Mechanica Sinica 2021年第5期37卷 746-747页

作者： Haibao Lu shaoxing qu Xiqiao Feng State Key Laboratory of Science and Technology On Advanced Composites in Special Environments Harbin Institute of TechnologyHarbin 150080P.R.China Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Department of Engineering MechanicsZhejiang UniversityHangzhou 310027China Institute of Biomechanics and Medical Engineering AMLDepartment of Engineering MechanicsTsinghua UniversityBeijing 100084China

Soft materials and lexible structures have become essential and hot topic,which is expected to signiicantly promote the research and development of current mechanics,physics,chemistry and life science.Furthermore,the soft materials and lexible structures have attracted enthusiastic attentions due to their great potential and practical applications in deployable structures,morphing structures,sensors,actuators,health-monitoring etc.

关键词： Mechanics structures Preface

Preface to the"Soft Matter Mechanics"Special Issue of Acta Mechanica Solida Sinica

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Acta Mechanica Solida Sinica 2019年第5期32卷 533-534页

作者： Jin Qian Tongqing Lu shaoxing qu Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Department of Engineering MechanicsZhejiang UniversityHangzhou 310027China State Key Lab for Strength and Vibration of Mechanical Structures Department of Engineering MechanicsXi'an Jiaotong UniversityXi'an 710049China

Different from ordinary solids,liquids and gases,soft matter is a subfield of condensed matter comprising a complexity of physical states and softness that are easily modulated by external stimuli and/or thermal flue tu at ions,with the featured sensitivity to tiny perturbations from the environment.The soft matter research is considered to be“the science of the 21st century,”which is rapidly evolving and growing at the interfaces of mechanics,physics,biology,material science,chemistry,etc.

关键词： environment. solids gases