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Wireless Autonomous soft crawlers for Adjustable Climbing Actuation

Chinese Journal of Polymer Science 2023年第3期41卷 405-413,I0008页

作者： Lei Tian Ji-Ji Tan Wei-Liang Dong Bo Yang Cui-Hua Li Dai Wang Hai-Yu Huang Xin-Tong Li Cai-Zhen Zhu Jian Xu Institute of Low-Dimensional Materials Genome Initiative College of Chemistry and Environmental EngineeringShenzhen UniversityShenzhen 518060China

Artificial soft actuators,featured with non-equilibrium internal circumstance and fast,programmable shape transformations,have attracted strong research interest recently due to their flexibility,highly controllable,and ***,wireless soft actuators,achieving the locomotion on different large slopes with multiple energy conversion,have been rarely ***,we create a asymmetric bilayer strategy to construct autonomous soft crawler via“breathing”moisture to motivate the mechanical *** soft crawlers present conspicuous performances including periodic tumbler locomotion predicted via improved Timoshenko’s equation,multiple reversible shape-morphing(circle,helix,despiralization,etc.)determined by their fiber orientation,controlled drive mode(front drive and rear drive)and rapid climb speed(4.76 cm/min)at wide slope *** architecture design,they can be series-wound or shunt-wound to construct multijoint complex *** climbing,a intelligent soft ring-pull with admirable cycle performance for preventing overheating or something untouchable,has been *** soft crawlers also realize multiple energy conversion to be actuated by light *** envision that this soft crawler system has an enormous potential in intelligent machine,microscopic diagnosis and treatment,biosensing,energy harvesting and conversion.

关键词： soft crawler Tumbler locomotion Reversible shape-morphing Autonomous Energy conversion

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Modular soft Robotic crawlers Based on Fluidic Prestressed Composite Actuators

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Journal of Bionic Engineering 2024年第2期21卷 694-706页

作者： Zefeng Xu Linkai Hu Longya Xiao Hongjie Jiang Yitong Zhou Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou511442China School of Mechanical and Electrical Engineering Guangzhou UniversityGuangzhou510006China

soft robotic crawlers have limited payload capacity and crawling *** study proposes a high-performance inchworm-like modular robotic crawler based on fluidic prestressed composite(FPC)*** FPC actuator is precurved and a pneumatic source is used to flatten it,requiring no energy cost to maintain the equilibrium curved *** and depressurizing the actuators generate alternating stretching and bending motions of the actuators,achieving the crawling motion of the robotic ***-modal locomotion(crawling,turning,and pipe climbing)is achieved by modular reconfiguration and gait *** analytical kinematic model is proposed to characterize the quasi-static curvature and step size of a single-module *** configurations of robotic crawlers are fabricated to demonstrate the crawling ability of the proposed design.A set of systematic experiments are set up and conducted to understand how crawler responses vary as a function of FPC prestrains,input pressures,and actuation *** per the experiments,the maximum carrying load ratio(carrying load divided by robot weight)is found to be 22.32,and the highest crawling velocity is 3.02 body length(BL)per second(392 mm/s).Multi-modal capabilities are demonstrated by reconfiguring three soft crawlers,including a matrix crawler robot crawling in amphibious environments,and an inching crawler turning at an angular velocity of 2/s,as well as earthworm-like crawling robots climbing a 20 inclination slope and pipe.

关键词： soft robot soft crawler Fluidic prestressed composite Kinematic model Enhanced loading Multi-modal capability

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