Published: May 13, 2024
Language: Английский
Mechanics of Advanced Materials and Structures, Journal Year: 2025, Volume and Issue: unknown, P. 1 - 9
Published: April 12, 2025
Language: Английский
Citations
0
Mechanism and Machine Theory, Journal Year: 2024, Volume and Issue: 196, P. 105626 - 105626
Published: March 16, 2024
Bistable mechanisms are prevalent across a broad spectrum of applications due to their ability maintain two distinct stable states. Their energy consumption is predominantly confined the process state transitions, thereby enhancing efficiency. However, transition often requires digital inputs, implicating requirement multiple actuators. Here, we propose an elastic and contactless design strategy for inducing transitions in bistable mechanisms, requiring only single input. The leverages internal information, interpreted as system state, extra input make weighted decision transitioning subsequent state. We characterize behavior using spring-based rigid-body model, consisting column near bifurcation, combined with non-linear spring connected element that represents information results show nonlinear quadratic stiffness function, i.e., representing instability, crucial regulating state-switching behavior. then demonstrate this by developing monolithic compliant embodiment experimentally evaluate its
Language: Английский
Citations
3
Advanced Science, Journal Year: 2024, Volume and Issue: unknown
Published: July 7, 2024
Drawing inspiration from the jumping mechanisms of insects (e.g., click beetles), bistable structures can convert slow deformations soft actuating material into fast motions (i.e., power amplification). However, jumpers often encounter large energy barriers for release/re-storage, posing a challenge in achieving multimodal height/distance) and continuous jumps at insect scale (body length under 20 mm). Here, new offset-buckling design is introduced that features antisymmetric equilibrium states tunable barriers. Leveraging this design, Boundary Actuation Tunable Energy-barrier (BATE) jumper down to 15 mm) developed, transform BATE height-jump mode (up 12.7 body lengths) distance-jump lengths). perform agile (within 300 ms release/re-storage times) real-time status detection further demonstrated. This insect-level performance proposed showcases its potential toward future applications exploration, search, rescue.
Language: Английский
Citations
3
Biomimetics, Journal Year: 2025, Volume and Issue: 10(1), P. 60 - 60
Published: Jan. 16, 2025
Anguilliform locomotion, an efficient aquatic locomotion mode where the whole body is engaged in fluid-body interaction, contains sophisticated physics. We hypothesized that data-driven modeling techniques may extract models or patterns of swimmers' dynamics without implicitly measuring hydrodynamic variables. This work proposes empirical kinematic control and a soft swimming robot. The robot comprises six serially connected segments can individually bend with segmental pneumatic artificial muscles. Kinematic equations relations are proposed to measure desired actuation mimic anguilliform kinematics. was tested experimentally position velocities spatially digitized points were collected using QualiSys® Tracking Manager (QTM) 1.6.0.1. data analyzed offline, proposing new complex variable delay-embedding dynamic decomposition (CDE DMD) algorithm combines state filtering time embedding linear approximate model. While experimental results exhibited exotic curves phase plane series, analysis showed extracts chaotic modes contributing data. It concluded be described by linearized model interrupted modes. technique successfully coherent from limited measurements linearizes system dynamics.
Language: Английский
Citations
0
Computers & Structures, Journal Year: 2025, Volume and Issue: 310, P. 107695 - 107695
Published: Feb. 27, 2025
Language: Английский
Citations
0
Research, Journal Year: 2025, Volume and Issue: 8
Published: Jan. 1, 2025
Twisted nylon actuators (TNAs) are widely recognized in soft robotics for their excellent load-to-weight ratio and cost-effectiveness. However, limitations deformation output force restrict ability to support more advanced applications. Here, we report 3 performance-enhancing strategies inspired by the construction process of chromosome, which validated through novel types TNAs. First, design a dual-level helical structure, demonstrating remarkable improvements (60.2% vertically approximately 100% horizontally) energy storage capability (launching miniature basketball 131 cm height). Second, present parallel-twisted method, where TNAs reaches 11.0 N, achieving 12.1% contraction under load 15 N (10,000 times its weight). Additionally, construct structure based on TNAs, resulting 439.7% improvement capability. We have adopted several applications: (a) two bionic elbows capable rotating shooting over 130 cm; (b) robot that can rapidly jump 30 (c) finger achieves contracting (15.3% 2 kg load), precise bending (tracking errors less than 2.0%), twisting motions. This work presents approaches fabricating high-performance explores potential applications these driving robots with multifunctional capabilities.
Language: Английский
Citations
0
Advanced Science, Journal Year: 2025, Volume and Issue: unknown
Published: April 2, 2025
Untethered soft robots made of stimuli-responsive materials hold great application potential in various fields. However, most this type require artificial modulation the stimuli to actuate, while it is a challenge achieve fast periodic locomotion under constant external environment. Here, double-helical robot constructed with humidity-sensitive agarose (AG) films, referred as Dualicalbot proposed, which can rapidly roll humid environment by making two helices alternately bend absorbing humidity actuate half-cycles. A theoretical model built unveil deformation well correlation between design parameters and motion speed, based on reach maximum rolling speed 5.8 BL s-1. Moreover, capable carrying payload up 100% self-weight detecting acid rolls through. This work envisaged, more generally structural modeling principle, will open new avenue for development advanced robotics diverse functionalities.
Language: Английский
Citations
0
Advanced Intelligent Systems, Journal Year: 2024, Volume and Issue: 6(10)
Published: June 27, 2024
Dynamic and agile locomotion in legged robots enables them to overcome obstacles navigate complex unstructured terrain. However, the leg mechanisms actuators needed for versatile are much more challenging manufacture integrate sub‐gram scale robots. Herein, Picotaur, a 15.4 mg hexapedal robot with legs that enable various tasks such as turning, climbing 3D‐printed stairs, pushing loads first time at these size scales, is presented. 3D printing two‐photon polymerization of electrostatically driven 2 degrees freedom on body made from flexible printed circuit board. Based simple control inputs, Picotaur can achieve alternating tripod gaits, reaching speeds up 57 mm (7.2 lengths) per second, well pronking gaits tackle wider variety This approach manufacturing controlling smaller scales provides path forward toward be used practical applications ranging inspection exploration rival performance insects similar scales.
Language: Английский
Citations
1
Journal of Field Robotics, Journal Year: 2024, Volume and Issue: 41(8), P. 2705 - 2714
Published: July 1, 2024
Abstract Soft crawling robots are usually driven by bulky and complex external pneumatic or hydraulic actuators. In this work, we proposed a miniaturized soft caterpillar based on electrohydrodynamic (EHD) pumps. The was mainly composed of flexible EHD pump for providing the driving force, an artificial muscle performing crawling, fluid reservoir, several stabilizers auxiliary feet. To achieve better performances our caterpillar, flow rate pressure were improved using curved electrode design. gap, overlap length, channel height, thickness, pair number further optimized performance. Compared with pumps conventional straight electrodes, showed 50% enhancement in 60% increase rate. bending capability muscles also characterized, showing maximum angle over 50°. Then, ability is tested. Finally, owns advantages simple fabrication, low‐cost, fast movement speed, small footprint, which has robust wide potential practical use, especially various terrains.
Language: Английский
Citations
1
IEEE Transactions on Robotics, Journal Year: 2023, Volume and Issue: 40, P. 472 - 482
Published: Nov. 8, 2023
A soft bistable actuator can generate high-speed motion between two prescribed stable positions, which is very useful for boosting the actuation of robots. Generally, stroke such an completely determined once design finalized, prohibits its applications in robots that perform multiple tasks. In current work, a with adjustable characteristics proposed by exploring strain energy landscape, barrier manipulatable via electroactive twisted and coiled polymer fibers. As such, operate either or postbistable mode, both exhibit stiffness. kinetostatic model combines chained beam constraint mechanics materials established to characterize design. Experimental results validate behaviors actuator. robotic demonstration, gripper formed actuators prototyped, it exhibits load capacity (up 6.5 times weight under 3 V voltage).
Language: Английский
Citations
3