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
- Wireless Autonomous Soft Crawlers for Adjustable Climbing Actuation
- 高分子科学（英文版） 2023年41卷第3期页码：405-413
- 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：
  
  This work was financially supported by the National Natural Science Foundation of China (Nos. 22001175, 51973118, 22175121 and 52003160), Key-Area Research and Development Program of Guangdong Province (Nos. 2019B010929002 and 2019B010941001), the Natural Science Foundation of Guangdong Province (No. 2020A1515010644), the Program for Guangdong Introducing Innovative and Enterpreneurial Teams (No. 2019ZT08C642)，Shenzhen Science and Technology Program (Nos. JCYJ20210324095412035, JCYJ2019080811300-5643, JCYJ20170818093832350 and JCYJ20180507184711069), and the start-up fund of Shenzhen University (No. 000002110820).;Electronic supplementary information (ESI) is available free of charge in the online version of this article at http://doi.org/10.1007/s10118-022-2858-2.
- DOI：10.1007/s10118-022-2858-2
  中图分类号：
- 收稿：2022-06-22，
  
  修回：2022-7-27，
  
  录用：2022-8-18，
  
  网络首发：2022-10-20，
  
  纸质出版：2023-03-01
- 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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