Wireless Autonomous Soft Crawlers for Adjustable Climbing Actuation

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

doi:10.1007/s10118-022-2858-2

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Wireless Autonomous Soft Crawlers for Adjustable Climbing Actuation

RESEARCH ARTICLE | Updated：2023-01-18

- Wireless Autonomous Soft Crawlers for Adjustable Climbing Actuation
- Chinese Journal of Polymer Science Vol. 41, Issue 3, Pages: 405-413(2023)
- Affiliations：
  
  Institute of Low-Dimensional Materials Genome Initiative, College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen 518060, China
- Author bio：
  
  leitian@szu.edu.cn (L.T.)
  czzhu@szu.edu.cn (C.Z.Z.)
- Funds：
- DOI：10.1007/s10118-022-2858-2
  CLC：
- Received：22 June 2022，
  
  Revised：2022-7-27，
  
  Accepted：18 August 2022，
  
  Online First：20 October 2022，
  
  Published：01 March 2023
- Accepted：
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Tian, L.; Tan, J. J.; Dong, W. L.; Yang, B.; Li, C. H.; Wang, D.; Huang, H. Y.; Li, X. T.; Zhu, C. Z.; Xu, J. Wireless autonomous soft crawlers for adjustable climbing actuation. Chinese J. Polym. Sci. 2023, 41, 405–413

Lei Tian, Ji-Ji Tan, Wei-Liang Dong, et al. Wireless Autonomous Soft Crawlers for Adjustable Climbing Actuation[J]. Chinese Journal of Polymer Science, 2023, 41(3): 405-413.
Tian, L.; Tan, J. J.; Dong, W. L.; Yang, B.; Li, C. H.; Wang, D.; Huang, H. Y.; Li, X. T.; Zhu, C. Z.; Xu, J. Wireless autonomous soft crawlers for adjustable climbing actuation. Chinese J. Polym. Sci. 2023, 41, 405–413 DOI： 10.1007/s10118-022-2858-2.

Lei Tian, Ji-Ji Tan, Wei-Liang Dong, et al. Wireless Autonomous Soft Crawlers for Adjustable Climbing Actuation[J]. Chinese Journal of Polymer Science, 2023, 41(3): 405-413. DOI： 10.1007/s10118-022-2858-2.

摘要

We create a thermo/optical drive type flexible track wireless controlled actuator that can realize multiple energy conversion on large slopes and alternate front drive and rear drive. Complex actuators with multiple joints can be constructed by structural design

which has normous potential in multi-scene driven mode and intelligent energy-harvesting system.

Abstract

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 designability. However

wireless soft actuators

achieving the locomotion on different large slopes with multiple energy conversion

have been rarely reported. Herein

we create a asymmetric bilayer strategy to construct autonomous soft crawler

via

“breathing” moisture to motivate the mechanical deformation. The 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 angles. Through architecture design

they can be series-wound or shunt-wound to construct multi-joint complex actuators. Besides climbing

a intelligent soft ring-pull with admirable cycle performance for preventing overheating or something untouchable

has been proposed. The soft crawlers also realize multiple energy conversion to be actuated by light irradiation. We 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

Keywords

references

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