1
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Koh JS, Baek SM, Kim B, Cho KJ, Kim HY. Comparison of water and terrestrial jumping in natural and robotic insects. Ann N Y Acad Sci 2024. [PMID: 38896114 DOI: 10.1111/nyas.15172] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/21/2024]
Abstract
Jumping requires high actuation power for achieving high speed in a short time. Especially, organisms and robots at the insect scale jump in order to overcome size limits on the speed of locomotion. As small jumpers suffer from intrinsically small power output, efficient jumpers have devised various ingenuous schemes to amplify their power release. Furthermore, semi-aquatic jumpers have adopted specialized techniques to fully exploit the reaction from water. We review jumping mechanisms of natural and robotic insects that jump on the ground and the surface of water, and compare the performance depending on their scale. We find a general trend that jumping creatures maximize jumping speed by unique mechanisms that manage acceleration, force, and takeoff duration under the constraints mainly associated with their size, shape, and substrate.
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Affiliation(s)
- Je-Sung Koh
- Department of Mechanical Engineering, Ajou University, Gyeonggi-do, Republic of Korea
| | - Sang-Min Baek
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea
- Department of Mechanical Engineering, Institute of Advanced Machines and Design, Institute of Engineering Research, Seoul National University, Seoul, Republic of Korea
| | - Baekgyeom Kim
- Department of Mechanical Engineering, Ajou University, Gyeonggi-do, Republic of Korea
| | - Kyu-Jin Cho
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea
- Department of Mechanical Engineering, Institute of Advanced Machines and Design, Institute of Engineering Research, Seoul National University, Seoul, Republic of Korea
| | - Ho-Young Kim
- Department of Mechanical Engineering, Institute of Advanced Machines and Design, Institute of Engineering Research, Seoul National University, Seoul, Republic of Korea
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2
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Skowronski N, Malek Pour M, Singh S, Longo SJ, St Pierre R. Design and control of jumping microrobots with torque reversal latches. BIOINSPIRATION & BIOMIMETICS 2024; 19:046007. [PMID: 38697139 DOI: 10.1088/1748-3190/ad46b9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/01/2024] [Accepted: 05/01/2024] [Indexed: 05/04/2024]
Abstract
Jumping microrobots and insects power their impressive leaps through systems of springs and latches. Using springs and latches, rather than motors or muscles, as actuators to power jumps imposes new challenges on controlling the performance of the jump. In this paper, we show how tuning the motor and spring relative to one another in a torque reversal latch can lead to an ability to control jump output, producing either tuneable (variable) or stereotyped jumps. We develop and utilize a simple mathematical model to explore the underlying design, dynamics, and control of a torque reversal mechanism, provides the opportunity to achieve different outcomes through the interaction between geometry, spring properties, and motor voltage. We relate system design and control parameters to performance to guide the design of torque reversal mechanisms for either variable or stereotyped jump performance. We then build a small (356 mg) microrobot and characterize the constituent components (e.g. motor and spring). Through tuning the actuator and spring relative to the geometry of the torque reversal mechanism, we demonstrate that we can achieve jumping microrobots that both jump with different take-off velocities given the actuator input (variable jumping), and those that jump with nearly the same take-off velocity with actuator input (stereotyped jumping). The coupling between spring characteristics and geometry in this system has benefits for resource-limited microrobots, and our work highlights design combinations that have synergistic impacts on output, compared to others that constrain it. This work will guide new design principles for enabling control in resource-limited jumping microrobots.
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Affiliation(s)
- Nolan Skowronski
- Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY 14260, United States of America
| | - Mohammadamin Malek Pour
- Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY 14260, United States of America
| | - Shashwat Singh
- Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY 14260, United States of America
| | - Sarah J Longo
- Department of Biological Sciences, Towson University, Towson, MD 21252, United States of America
| | - Ryan St Pierre
- Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY 14260, United States of America
- Department of Computer Science and Engineering, University at Buffalo, Buffalo, NY 14260, United States of America
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3
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Yao DR, Kim I, Yin S, Gao W. Multimodal Soft Robotic Actuation and Locomotion. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308829. [PMID: 38305065 DOI: 10.1002/adma.202308829] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/30/2023] [Revised: 01/02/2024] [Indexed: 02/03/2024]
Abstract
Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.
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Affiliation(s)
- Dickson R Yao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Inho Kim
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Shukun Yin
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
| | - Wei Gao
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 91125, USA
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4
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Bai S, Pan Q, Ding R, Jia H, Yang Z, Chirarattananon P. An agile monopedal hopping quadcopter with synergistic hybrid locomotion. Sci Robot 2024; 9:eadi8912. [PMID: 38598611 DOI: 10.1126/scirobotics.adi8912] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/25/2023] [Accepted: 03/14/2024] [Indexed: 04/12/2024]
Abstract
Nature abounds with examples of superior mobility through the fusion of aerial and ground movement. Drawing inspiration from such multimodal locomotion, we introduce a high-performance hybrid hopping and flying robot. The proposed robot seamlessly integrates a nano quadcopter with a passive telescopic leg, overcoming limitations of previous jumping mechanisms that rely on stance phase leg actuation. Based on the identified dynamics, a thrust-based control method and detachable active aerodynamic surfaces were devised for the robot to perform continuous jumps with and without position feedback. This unique design and actuation strategy enable tuning of jump height and reduced stance phase duration, leading to agile hopping locomotion. The robot recorded an average vertical hopping speed of 2.38 meters per second at a jump height of 1.63 meters. By harnessing multimodal locomotion, the robot is capable of intermittent midflight jumps that result in substantial instantaneous accelerations and rapid changes in flight direction, offering enhanced agility and versatility in complex environments. The passive leg design holds potential for direct integration with conventional rotorcraft, unlocking seamless hybrid hopping and flying locomotion.
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Affiliation(s)
- Songnan Bai
- Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Qiqi Pan
- Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong SAR, China
- Department of Mechanical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Runze Ding
- Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Huaiyuan Jia
- Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Zhengbao Yang
- Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong SAR, China
- Department of Mechanical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
| | - Pakpong Chirarattananon
- Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
- Department of Mechanical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
- Centre for Nature-inspired Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China
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5
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Yun R, Liu Z, Leng J, Huang J, Yan X, Qi M. A Millimeter-Scale Multilocomotion Microrobot Capable of Controlled Crawling and Jumping. Soft Robot 2024; 11:361-370. [PMID: 38190294 DOI: 10.1089/soro.2023.0025] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/10/2024] Open
Abstract
Insects and animals in nature generally have powerful muscles to guarantee their complex motion, such as crawling, running, and jumping. It is challenging for insect-sized robots to achieve controlled crawling and jumping within the scale of millimeters and milligrams. This article proposes a novelty bionic muscle actuator, where an electrical pulse is applied to generate joule heat to expand the actuator's chamber. Under the restoring force of the spring element, the chamber contracts back to the initial state to finish a complete cycle. The actuator can obtain high-frequency vibration under the high-frequency electrical signal. We propose a microrobot based on the novelty actuator to achieve controlled crawling and jumping over the obstacle of the millimeter-sized robot. The robot is fabricated with two actuators as a crawling module and one actuator as a jumping module, with a mass of 52 mg, length of 9.3 mm, width of 9.1 mm, and height of 4 mm. The microrobot has a maximum crawling turning velocity of 0.73 rad/s, a maximum jump height of 42 mm (10.5 times body height), and a maximum jump velocity of 0.91 m/s. This study extends the potential for applying the novelty bionic-muscle actuator to the microrobot.
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Affiliation(s)
- Ruide Yun
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Zhiwei Liu
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Jiaming Leng
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Jianmei Huang
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Xiaojun Yan
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
| | - Mingjing Qi
- Department of Electric Propulsion, School of Energy and Power Engineering, Beihang University, Beijing, China
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6
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Krimsky E, Collins SH. Elastic energy-recycling actuators for efficient robots. Sci Robot 2024; 9:eadj7246. [PMID: 38507474 DOI: 10.1126/scirobotics.adj7246] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/12/2023] [Accepted: 02/20/2024] [Indexed: 03/22/2024]
Abstract
Electric motors are widely used in robots but waste energy in many applications. We introduce an elastic energy-recycling actuator that maintains the versatility of motors while improving energy efficiency in cyclic tasks. The actuator comprises a motor in parallel with an array of springs that can be individually engaged and disengaged, while retaining stored energy, by pairs of low-power electroadhesive clutches. We developed a prototype actuator and tested it in five repetitive tasks with features common in robotic applications but difficult to perform efficiently. The actuator reduced power consumption by at least 50% in all cases and by 97% in the best case. Elastic energy recovery, controlled by low-power clutches, can improve the efficiency of mobile robots, assistive devices, and other engineered systems.
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Affiliation(s)
- Erez Krimsky
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
| | - Steven H Collins
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
- Department of Bioengineering, Stanford University, Stanford, CA 94305, USA
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7
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Labonte D, Bishop PJ, Dick TJM, Clemente CJ. Dynamic similarity and the peculiar allometry of maximum running speed. Nat Commun 2024; 15:2181. [PMID: 38467620 PMCID: PMC10928110 DOI: 10.1038/s41467-024-46269-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/25/2023] [Accepted: 02/20/2024] [Indexed: 03/13/2024] Open
Abstract
Animal performance fundamentally influences behaviour, ecology, and evolution. It typically varies monotonously with size. A notable exception is maximum running speed; the fastest animals are of intermediate size. Here we show that this peculiar allometry results from the competition between two musculoskeletal constraints: the kinetic energy capacity, which dominates in small animals, and the work capacity, which reigns supreme in large animals. The ratio of both capacities defines the physiological similarity index Γ, a dimensionless number akin to the Reynolds number in fluid mechanics. The scaling of Γ indicates a transition from a dominance of muscle forces to a dominance of inertial forces as animals grow in size; its magnitude defines conditions of "dynamic similarity" that enable comparison and estimates of locomotor performance across extant and extinct animals; and the physical parameters that define it highlight opportunities for adaptations in musculoskeletal "design" that depart from the eternal null hypothesis of geometric similarity. The physiological similarity index challenges the Froude number as prevailing dynamic similarity condition, reveals that the differential growth of muscle and weight forces central to classic scaling theory is of secondary importance for the majority of terrestrial animals, and suggests avenues for comparative analyses of locomotor systems.
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Affiliation(s)
- David Labonte
- Department of Bioengineering, Imperial College London, London, UK.
| | - Peter J Bishop
- Museum of Comparative Zoology, Harvard University, Cambridge, MA, USA
- Geosciences Program, Queensland Museum, Brisbane, QLD, Australia
| | - Taylor J M Dick
- School of Biomedical Sciences, University of Queensland, Brisbane, QLD, Australia
| | - Christofer J Clemente
- School of Biomedical Sciences, University of Queensland, Brisbane, QLD, Australia
- School of Science and Engineering, University of the Sunshine Coast, Sippy Downs, QLD, Australia
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Zhang W, Jiang W, Zhang C, Qin X, Zheng H, Xu W, Cui M, Wang B, Wu J, Wang Z. Honeybee comb-inspired stiffness gradient-amplified catapult for solid particle repellency. NATURE NANOTECHNOLOGY 2024; 19:219-225. [PMID: 37845515 DOI: 10.1038/s41565-023-01524-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/20/2023] [Accepted: 09/11/2023] [Indexed: 10/18/2023]
Abstract
Natural surfaces that repel foreign matter are ubiquitous and crucial for living organisms. Despite remarkable liquid repellency driven by surface energy in many organisms, repelling tiny solid particles from surfaces is rare. The main challenge lies in the unfavourable scaling of inertia versus adhesion in the microscale and the inability of solids to release surface energy. Here we report a previously unexplored solid repellency on a honeybee's comb: a catapult-like effect to immediately eject pollen after grooming dirty antennae for self-cleaning. Nanoindentation tests revealed the 38-μm-long comb features a stiffness gradient spanning nearly two orders of magnitude from ~25 MPa at the tip to ~645 MPa at the base. This significantly augments the elastic energy storage and accelerates the subsequent conversion into kinetic energy. The reinforcement in energy storage and conversion allows the particle's otherwise weak inertia to outweigh its adhesion, thereby suppressing the unfavourable scaling effect and realizing solid repellency that is impossible in conventional uniform designs. We capitalize on this to build an elastomeric bioinspired stiffness-gradient catapult and demonstrate its generality and practicality. Our findings advance the fundamental understanding of natural catapult phenomena with the potential to develop bioinspired stiffness-gradient materials, catapult-based actuators and robotic cleaners.
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Affiliation(s)
- Wei Zhang
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, P. R. China
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, P. R. China
| | - Wei Jiang
- School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P. R. China
| | - Chao Zhang
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, P. R. China
- MOE Key Lab of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou, China
| | - Xuezhi Qin
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, P. R. China
| | - Huanxi Zheng
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, P. R. China
| | - Wanghuai Xu
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, P. R. China
| | - Miaomiao Cui
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, P. R. China
| | - Bin Wang
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR, P. R. China
| | - Jianing Wu
- School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P. R. China.
- School of Advanced Manufacturing, Sun Yat-sen University, Shenzhen, P. R. China.
| | - Zuankai Wang
- Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, P. R. China.
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Li C, Xu AJ, Beery E, Hsieh ST, Kane SA. Putting a new spin on insect jumping performance using 3D modeling and computer simulations of spotted lanternfly nymphs. J Exp Biol 2023; 226:jeb246340. [PMID: 37668246 PMCID: PMC10565111 DOI: 10.1242/jeb.246340] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/22/2023] [Accepted: 08/30/2023] [Indexed: 09/06/2023]
Abstract
How animals jump and land on diverse surfaces is ecologically important and relevant to bioinspired robotics. Here, we describe the jumping biomechanics of the planthopper Lycorma delicatula (spotted lanternfly), an invasive insect in the USA that jumps frequently for dispersal, locomotion and predator evasion. High-speed video was used to analyze jumping by spotted lanternfly nymphs from take-off to impact on compliant surfaces. These insects used rapid hindleg extensions to achieve high take-off speeds (2.7-3.4 m s-1) and accelerations (800-1000 m s-2), with mid-air trajectories consistent with ballistic motion without drag forces or steering. Despite rotating rapidly (5-45 Hz) about time-varying axes of rotation, they landed successfully in 58.9% of trials. They also attained the most successful impact orientation significantly more often than predicted by chance, consistent with their using attitude control. Notably, these insects were able to land successfully when impacting surfaces at all angles, pointing to the importance of collisional recovery behaviors. To further understand their rotational dynamics, we created realistic 3D rendered models of spotted lanternflies and used them to compute their mechanical properties during jumping. Computer simulations based on these models and drag torques estimated from fits to tracked data successfully predicted several features of the measured rotational kinematics. This analysis showed that the rotational inertia of spotted lanternfly nymphs is predominantly due to their legs, enabling them to use posture changes as well as drag torque to control their angular velocity, and hence their orientation, thereby facilitating predominately successful landings when jumping.
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Affiliation(s)
- Chengpei Li
- Physics and Astronomy Department, Haverford College, Haverford, PA 19041, USA
| | - Aaron J. Xu
- Physics and Astronomy Department, Haverford College, Haverford, PA 19041, USA
| | - Eric Beery
- Physics and Astronomy Department, Haverford College, Haverford, PA 19041, USA
| | - S. Tonia Hsieh
- Department of Biology, Temple University, Philadelphia, PA 19122, USA
| | - Suzanne Amador Kane
- Physics and Astronomy Department, Haverford College, Haverford, PA 19041, USA
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Yun R, Che J, Liu Z, Yan X, Qi M. A novel electric stimulus-responsive micro-actuator for powerful biomimetic motions. NANOSCALE 2023; 15:12933-12943. [PMID: 37482766 DOI: 10.1039/d3nr01866k] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/25/2023]
Abstract
Limited by the surface-to-volume ratio of structural materials, it is a great challenge to achieve high output performance in a millimetre-sized actuator. Traditional rigid actuators can achieve higher vibration frequencies above the centimetre size, but their working performance will be greatly reduced below the millimetre size, and even cannot maintain the vibration. A micro-actuator is highly essential for the miniaturisation of bionic robots. In this work, we present a novel driving principle by utilising the plasmonic thermal energy generated by electric stimulation to drive the vibration of the micro-actuator. In the design, the micro-actuator is composed of two chambers and elastic elements, which is similar to the design of a micro-piston. By utilising the thermal energy of the plasma, the actuator can generate high-frequency vibration (resonant frequency of 140 Hz), and the simple structural design can achieve a large vibration amplitude on a millimetre scale. Based on this powerful actuator, several applications are presented, such as fast crawling and jumping. The good performance of the electric stimulus-responsive micro-actuator suggests promising applications ranging from millimetre-scale robots in confined spaces to detection, search and rescue.
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Affiliation(s)
- Ruide Yun
- School of Energy and Power Engineering, Beihang University, Beijing, China.
| | - Jingyu Che
- School of Energy and Power Engineering, Beihang University, Beijing, China.
| | - Zhiwei Liu
- School of Energy and Power Engineering, Beihang University, Beijing, China.
| | - Xiaojun Yan
- School of Energy and Power Engineering, Beihang University, Beijing, China.
| | - Mingjing Qi
- School of Energy and Power Engineering, Beihang University, Beijing, China.
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11
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Ortega-Jimenez VM, Jusufi A, Brown CE, Zeng Y, Kumar S, Siddall R, Kim B, Challita EJ, Pavlik Z, Priess M, Umhofer T, Koh JS, Socha JJ, Dudley R, Bhamla MS. Air-to-land transitions: from wingless animals and plant seeds to shuttlecocks and bio-inspired robots. BIOINSPIRATION & BIOMIMETICS 2023; 18:051001. [PMID: 37552773 DOI: 10.1088/1748-3190/acdb1c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/08/2023] [Accepted: 06/02/2023] [Indexed: 08/10/2023]
Abstract
Recent observations of wingless animals, including jumping nematodes, springtails, insects, and wingless vertebrates like geckos, snakes, and salamanders, have shown that their adaptations and body morphing are essential for rapid self-righting and controlled landing. These skills can reduce the risk of physical damage during collision, minimize recoil during landing, and allow for a quick escape response to minimize predation risk. The size, mass distribution, and speed of an animal determine its self-righting method, with larger animals depending on the conservation of angular momentum and smaller animals primarily using aerodynamic forces. Many animals falling through the air, from nematodes to salamanders, adopt a skydiving posture while descending. Similarly, plant seeds such as dandelions and samaras are able to turn upright in mid-air using aerodynamic forces and produce high decelerations. These aerial capabilities allow for a wide dispersal range, low-impact collisions, and effective landing and settling. Recently, small robots that can right themselves for controlled landings have been designed based on principles of aerial maneuvering in animals. Further research into the effects of unsteady flows on self-righting and landing in small arthropods, particularly those exhibiting explosive catapulting, could reveal how morphological features, flow dynamics, and physical mechanisms contribute to effective mid-air control. More broadly, studying apterygote (wingless insects) landing could also provide insight into the origin of insect flight. These research efforts have the potential to lead to the bio-inspired design of aerial micro-vehicles, sports projectiles, parachutes, and impulsive robots that can land upright in unsteady flow conditions.
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Affiliation(s)
- Victor M Ortega-Jimenez
- School of Biology and Ecology, University of Maine, Orono, ME 04469, United States of America
| | - Ardian Jusufi
- Soft Kinetic Group, Engineering Sciences Department, Empa Swiss Federal Laboratories for Materials Science and Technology, Ueberlandstrasse 129, Dübendorf 8600, Switzerland
- University of Zurich, Institutes for Neuroinformatics and Palaeontology, Winterthurerstrasse 190, Zurich 8057, Switzerland
- Macquarie University, Sydney, NSW 2109, Australia
| | - Christian E Brown
- Department of Integrative Biology, University of South Florida, 4202 East Fowler Avenue, Science Center 110, Tampa, FL 33620, United States of America
| | - Yu Zeng
- Department of Integrative Biology, University of South Florida, 4202 East Fowler Avenue, Science Center 110, Tampa, FL 33620, United States of America
- Department of Integrative Biology, University of California, Berkeley, CA 94720, United States of America
| | - Sunny Kumar
- School of Chemical and Biomolecular Engineering, Georgia Institute of Technology, Atlanta, GA 30318, United States of America
| | - Robert Siddall
- Aerial Robotics Lab, Imperial College of London, London, United Kingdom
| | - Baekgyeom Kim
- Department of Mechanical Engineering, Ajou University, Gyeonggi-do 16499, Republic of Korea
| | - Elio J Challita
- School of Chemical and Biomolecular Engineering, Georgia Institute of Technology, Atlanta, GA 30318, United States of America
| | - Zoe Pavlik
- School of Biology and Ecology, University of Maine, Orono, ME 04469, United States of America
| | - Meredith Priess
- School of Biology and Ecology, University of Maine, Orono, ME 04469, United States of America
| | - Thomas Umhofer
- School of Biology and Ecology, University of Maine, Orono, ME 04469, United States of America
| | - Je-Sung Koh
- Department of Mechanical Engineering, Ajou University, Gyeonggi-do 16499, Republic of Korea
| | - John J Socha
- Department of Biomedical Engineering and Mechanics, Virginia Tech, Blacksburg, VA, United States of America
| | - Robert Dudley
- Department of Integrative Biology, University of South Florida, 4202 East Fowler Avenue, Science Center 110, Tampa, FL 33620, United States of America
- Smithsonian Tropical Research Institute, Balboa, Panama
| | - M Saad Bhamla
- School of Chemical and Biomolecular Engineering, Georgia Institute of Technology, Atlanta, GA 30318, United States of America
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Yang SG, Lee DJ, Kim C, Jung GP. A Small-Scale Hopper Design Using a Power Spring-Based Linear Actuator. Biomimetics (Basel) 2023; 8:339. [PMID: 37622944 PMCID: PMC10452063 DOI: 10.3390/biomimetics8040339] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/29/2023] [Revised: 07/24/2023] [Accepted: 07/31/2023] [Indexed: 08/26/2023] Open
Abstract
Hopping locomotion has the potential to enable small-scale robots to maneuver lands quickly while overcoming obstacles bigger than themselves. To make this possible, in this paper, we propose a novel design of a high-power linear actuator for a small-scale hopper. The key design principle of the linear actuator is to use a power spring and an active clutch. The power spring provides a near constant torque along the wide range of output displacement. The active clutch controls the moving direction and operation timing of the linear actuator, which enables the hopper to take off at the right timing. As a result, the hopper has a size of 143 mm, a mass of 45.9 g, and hops up to 0.58 m.
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Affiliation(s)
- Seon-Gyo Yang
- Department of Mechanical and Automotive Engineering, SeoulTech, Seoul 01811, Republic of Korea; (S.-G.Y.)
| | - Dong-Jun Lee
- Department of Mechanical and Automotive Engineering, SeoulTech, Seoul 01811, Republic of Korea; (S.-G.Y.)
| | - Chan Kim
- School of Mechanical and Aerospace Engineering, Seoul National University, Seoul 08826, Republic of Korea
| | - Gwang-Pil Jung
- Department of Mechanical and Automotive Engineering, SeoulTech, Seoul 01811, Republic of Korea; (S.-G.Y.)
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13
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Jorge JF, Patek SN. Elastic pinch biomechanisms can yield consistent launch speeds regardless of projectile mass. J R Soc Interface 2023; 20:20230234. [PMID: 37608709 PMCID: PMC10445031 DOI: 10.1098/rsif.2023.0234] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/20/2023] [Accepted: 07/26/2023] [Indexed: 08/24/2023] Open
Abstract
Energetic trade-offs are particularly pertinent to bio-ballistic systems which impart energy to projectiles exclusively during launch. We investigated such trade-offs in the spring-propelled seeds of Loropetalum chinense, Hamamelis virginiana and Fortunearia sinensis. Using similar seed-shooting mechanisms, fruits of these confamilial plants (Hamamelidaceae) span an order of magnitude in spring and seed mass. We expected that as seed mass increases, launch speed decreases. Instead, launch speed was relatively constant regardless of seed mass. We tested if fruits shoot larger seeds by storing more elastic potential energy (PE). Spring mass and PE increased as seed mass increased (in order of increasing seed mass: L. chinense, H. virginiana, F. sinensis). As seed mass to spring mass ratio increased (ratios: H. virginiana = 0.50, F. sinensis = 0.65, L. chinense = 0.84), mass-specific PE storage increased. The conversion efficiency of PE to seed kinetic energy (KE) decreased with increasing fruit mass. Therefore, similar launch speeds across scales occurred because (i) larger fruits stored more PE and (ii) smaller fruits had higher mass-specific PE storage and improved PE to KE conversion. By examining integrated spring and projectile mechanics in our focal species, we revealed diverse, energetic scaling strategies relevant to spring-propelled systems navigating energetic trade-offs.
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Affiliation(s)
| | - S. N. Patek
- Department of Biology, Duke University, Durham, NC, USA
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14
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Dai Y, Li M, Ji B, Wang X, Yang S, Yu P, Wang S, Hao C, Wang Z. Liquid metal droplets bouncing higher on thicker water layer. Nat Commun 2023; 14:3532. [PMID: 37316489 PMCID: PMC10267135 DOI: 10.1038/s41467-023-39348-x] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/01/2022] [Accepted: 06/08/2023] [Indexed: 06/16/2023] Open
Abstract
Liquid metal (LM) has gained increasing attention for a wide range of applications, such as flexible electronics, soft robots, and chip cooling devices, owing to its low melting temperature, good flexibility, and high electrical and thermal conductivity. In ambient conditions, LM is susceptible to the coverage of a thin oxide layer, resulting in unwanted adhesion with underlying substrates that undercuts its originally high mobility. Here, we discover an unusual phenomenon characterized by the complete rebound of LM droplets from the water layer with negligible adhesion. More counterintuitively, the restitution coefficient, defined as the ratio between the droplet velocities after and before impact, increases with water layer thickness. We reveal that the complete rebound of LM droplets originates from the trapping of a thinly low-viscosity water lubrication film that prevents droplet-solid contact with low viscous dissipation, and the restitution coefficient is modulated by the negative capillary pressure in the lubrication film as a result of the spontaneous spreading of water on the LM droplet. Our findings advance the fundamental understanding of complex fluids' droplet dynamics and provide insights for fluid control.
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Affiliation(s)
- Yuhang Dai
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, 999077, China
- Department of Mechanical and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Minfei Li
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, 999077, China
| | - Bingqiang Ji
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, 999077, China
| | - Xiong Wang
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, 999077, China
| | - Siyan Yang
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, 999077, China
| | - Peng Yu
- Department of Mechanical and Aerospace Engineering, Southern University of Science and Technology, Shenzhen, 518055, China
| | - Steven Wang
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, 999077, China.
| | - Chonglei Hao
- School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, China.
| | - Zuankai Wang
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, 999077, China.
- Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, 999077, China.
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15
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Wang Y, Du X, Zhang H, Zou Q, Law J, Yu J. Amphibious Miniature Soft Jumping Robot with On-Demand In-Flight Maneuver. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2207493. [PMID: 37097734 PMCID: PMC10288233 DOI: 10.1002/advs.202207493] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/17/2022] [Revised: 03/13/2023] [Indexed: 06/19/2023]
Abstract
In nature, some semiaquatic arthropods evolve biomechanics for jumping on the water surface with the controlled burst of kinetic energy. Emulating these creatures, miniature jumping robots deployable on the water surface have been developed, but few of them achieve the controllability comparable to biological systems. The limited controllability and agility of miniature robots constrain their applications, especially in the biomedical field where dexterous and precise manipulation is required. Herein, an insect-scale magnetoelastic robot with improved controllability is designed. The robot can adaptively regulate its energy output to generate controllable jumping motion by tuning magnetic and elastic strain energy. Dynamic and kinematic models are developed to predict the jumping trajectories of the robot. On-demand actuation can thus be applied to precisely control the pose and motion of the robot during the flight phase. The robot is also capable of making adaptive amphibious locomotion and performing various tasks with integrated functional modules.
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Affiliation(s)
- Yibin Wang
- School of Science and EngineeringThe Chinese University of Hong Kong518172ShenzhenChina
- Shenzhen Institute of Artificial Intelligence and Robotics for Society518172ShenzhenChina
| | - Xingzhou Du
- School of Science and EngineeringThe Chinese University of Hong Kong518172ShenzhenChina
- Shenzhen Institute of Artificial Intelligence and Robotics for Society518172ShenzhenChina
| | - Huimin Zhang
- School of Science and EngineeringThe Chinese University of Hong Kong518172ShenzhenChina
- Shenzhen Institute of Artificial Intelligence and Robotics for Society518172ShenzhenChina
| | - Qian Zou
- School of Science and EngineeringThe Chinese University of Hong Kong518172ShenzhenChina
- Shenzhen Institute of Artificial Intelligence and Robotics for Society518172ShenzhenChina
| | - Junhui Law
- Department of Mechanical and Industrial EngineeringUniversity of TorontoTorontoON M5S 3G8Canada
| | - Jiangfan Yu
- School of Science and EngineeringThe Chinese University of Hong Kong518172ShenzhenChina
- Shenzhen Institute of Artificial Intelligence and Robotics for Society518172ShenzhenChina
- School of MedicineThe Chinese University of Hong Kong518172ShenzhenChina
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16
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Gwon M, Kim D, Kim B, Han S, Kang D, Koh JS. Scale dependence in hydrodynamic regime for jumping on water. Nat Commun 2023; 14:1473. [PMID: 36927722 PMCID: PMC10020434 DOI: 10.1038/s41467-023-37119-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/01/2022] [Accepted: 02/28/2023] [Indexed: 03/18/2023] Open
Abstract
Momentum transfer from the water surface is strongly related to the dynamical scale and morphology of jumping animals. Here, we investigate the scale-dependent momentum transfer of various jumping organisms and engineered systems at an air-water interface. A simplified analytical model for calculating the maximum momentum transfer identifies an intermediate dynamical scale region highly disadvantageous for jumping on water. The Weber number of the systems should be designed far from 1 to achieve high jumping performance on water. We design a relatively large water-jumping robot in the drag-dominant scale range, having a high Weber number, for maximum jumping height and distance. The jumping robot, around 10 times larger than water striders, has a take-off speed of 3.6 m/s facilitated by drag-based propulsion, which is the highest value reported thus far. The scale-dependent hydrodynamics of water jumpers provides a useful framework for understanding nature and robotic system interacting with the water surface.
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Affiliation(s)
- Minseok Gwon
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16499, Republic of Korea
| | - Dongjin Kim
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16499, Republic of Korea
| | - Baekgyeom Kim
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16499, Republic of Korea
| | - Seungyong Han
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16499, Republic of Korea.
| | - Daeshik Kang
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16499, Republic of Korea.
| | - Je-Sung Koh
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16499, Republic of Korea.
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17
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Divi S, Reynaga C, Azizi E, Bergbreiter S. Adapting small jumping robots to compliant environments. J R Soc Interface 2023; 20:20220778. [PMID: 36854379 PMCID: PMC9974292 DOI: 10.1098/rsif.2022.0778] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/24/2022] [Accepted: 01/31/2023] [Indexed: 03/02/2023] Open
Abstract
Jumping animals launch themselves from surfaces that vary widely in compliance from grasses and shrubs to tree branches. However, studies of robotic jumpers have been largely limited to those jumping from rigid substrates. In this paper, we leverage recent work describing how latches in jumping systems can mediate the transition from stored potential energy to kinetic energy. By including a description of the latch in our system model of both the jumper and compliant substrate, we can describe conditions in which a jumper can either lose energy to the substrate or recover energy from the substrate resulting in an improved jump performance. Using our mathematical model, we illustrate how the latch plays a role in the ability of a system to adapt its jump performance to a wide range of substrates that vary in their compliance. Our modelling results are validated using a 4 g jumper with a range of latch designs jumping from substrates with varying mass and compliance. Finally, we demonstrate the jumper recovering energy from a tree branch during take-off, extending these mechanistic findings to robots interacting with a more natural environment.
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Affiliation(s)
- Sathvik Divi
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Crystal Reynaga
- Department of Biology, Dickinson College, Carlisle, PA 17013, USA
| | - Emanuel Azizi
- Department of Ecology and Evolutionary Biology, University of California, Irvine, CA 92697, USA
| | - Sarah Bergbreiter
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
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18
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Hu J, Nie Z, Wang M, Liu Z, Huang S, Yang H. Springtail-inspired Light-driven Soft Jumping Robots Based on Liquid Crystal Elastomers with Monolithic Three-leaf Panel Fold Structure. Angew Chem Int Ed Engl 2023; 62:e202218227. [PMID: 36624053 DOI: 10.1002/anie.202218227] [Citation(s) in RCA: 18] [Impact Index Per Article: 18.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/10/2022] [Revised: 01/05/2023] [Accepted: 01/09/2023] [Indexed: 01/11/2023]
Abstract
Jump is an important form of motion that enables animals to escape from predators, increase their range of activities, and better adapt to the environment. Inspired by springtails, we describe a light-driven soft jumping robot based on a double-folded liquid crystal elastomer (LCE) ribbon actuator with a monolithic three-leaf panel fold structure. This robot can achieve remarkable jumping height, jumping distance, and maximum take-off velocity, of up to 87 body length (BL), 65 BL, and 930 BL s-1 , respectively, under near-infrared light irradiation. Further, it is possible to control the height, distance, and direction of jump by changing the size and crease angle of the double-folded LCE ribbon actuators. These robots can efficiently jump over obstacles and can jump continuously, even in complex environments. Our simple design strategy improves the performance of jumping actuators and we expect it to have a wide-ranging impact on the strength, continuity, and adaptability of future soft robots.
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Affiliation(s)
- Jun Hu
- Institute of Advanced Materials, School of Chemistry and Chemical Engineering, State Key Laboratory of Bioelectronics, and Jiangsu Province Hi-Tech Key Laboratory for Bio-medical Research, Southeast University, Nanjing, Jiangsu Province, 211189 (P. R. of, China
| | - Zhenzhou Nie
- Institute of Advanced Materials, School of Chemistry and Chemical Engineering, State Key Laboratory of Bioelectronics, and Jiangsu Province Hi-Tech Key Laboratory for Bio-medical Research, Southeast University, Nanjing, Jiangsu Province, 211189 (P. R. of, China
| | - Meng Wang
- Institute of Advanced Materials, School of Chemistry and Chemical Engineering, State Key Laboratory of Bioelectronics, and Jiangsu Province Hi-Tech Key Laboratory for Bio-medical Research, Southeast University, Nanjing, Jiangsu Province, 211189 (P. R. of, China
| | - Zhiyang Liu
- Institute of Advanced Materials, School of Chemistry and Chemical Engineering, State Key Laboratory of Bioelectronics, and Jiangsu Province Hi-Tech Key Laboratory for Bio-medical Research, Southeast University, Nanjing, Jiangsu Province, 211189 (P. R. of, China
| | - Shuai Huang
- Institute of Advanced Materials, School of Chemistry and Chemical Engineering, State Key Laboratory of Bioelectronics, and Jiangsu Province Hi-Tech Key Laboratory for Bio-medical Research, Southeast University, Nanjing, Jiangsu Province, 211189 (P. R. of, China
| | - Hong Yang
- Institute of Advanced Materials, School of Chemistry and Chemical Engineering, State Key Laboratory of Bioelectronics, and Jiangsu Province Hi-Tech Key Laboratory for Bio-medical Research, Southeast University, Nanjing, Jiangsu Province, 211189 (P. R. of, China
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19
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Harrison JS, Patek SN. Developing elastic mechanisms: ultrafast motion and cavitation emerge at the millimeter scale in juvenile snapping shrimp. J Exp Biol 2023; 226:287686. [PMID: 36854255 DOI: 10.1242/jeb.244645] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/10/2022] [Accepted: 01/12/2023] [Indexed: 03/02/2023]
Abstract
Organisms such as jumping froghopper insects and punching mantis shrimp use spring-based propulsion to achieve fast motion. Studies of elastic mechanisms have primarily focused on fully developed and functional mechanisms in adult organisms. However, the ontogeny and development of these mechanisms can provide important insights into the lower size limits of spring-based propulsion, the ecological or behavioral relevance of ultrafast movement, and the scaling of ultrafast movement. Here, we examined the development of the spring-latch mechanism in the bigclaw snapping shrimp, Alpheus heterochaelis (Alpheidae). Adult snapping shrimp use an enlarged claw to produce high-speed strikes that generate cavitation bubbles. However, until now, it was unclear when the elastic mechanism emerges during development and whether juvenile snapping shrimp can generate cavitation at this size. We reared A. heterochaelis from eggs, through their larval and postlarval stages. Starting 1 month after hatching, the snapping shrimp snapping claw gradually developed a spring-actuated mechanism and began snapping. We used high-speed videography (300,000 frames s-1) to measure juvenile snaps. We discovered that juvenile snapping shrimp generate the highest recorded accelerations (5.8×105±3.3×105 m s-2) for repeated-use, underwater motion and are capable of producing cavitation at the millimeter scale. The angular velocity of snaps did not change as juveniles grew; however, juvenile snapping shrimp with larger claws produced faster linear speeds and generated larger, longer-lasting cavitation bubbles. These findings establish the development of the elastic mechanism and cavitation in snapping shrimp and provide insights into early life-history transitions in spring-actuated mechanisms.
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Affiliation(s)
| | - S N Patek
- Department of Biology, Duke University, Durham, NC 27708, USA
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20
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Heap WE, Keeley CT, Yao EB, Naclerio ND, Hawkes EW. Miniature, Lightweight, High-Force, Capstan Winch for Mobile Robots. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3192758] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Affiliation(s)
- William E. Heap
- College of Engineering, University of California, Santa Barbara, CA, USA
| | - Chris T. Keeley
- College of Engineering, University of California, Santa Barbara, CA, USA
| | - Elvy B. Yao
- College of Engineering, University of California, Santa Barbara, CA, USA
| | - Nicholas D. Naclerio
- Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA
| | - Elliot W. Hawkes
- Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA
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21
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Hong C, Ren Z, Wang C, Li M, Wu Y, Tang D, Hu W, Sitti M. Magnetically actuated gearbox for the wireless control of millimeter-scale robots. Sci Robot 2022; 7:eabo4401. [PMID: 36044558 DOI: 10.1126/scirobotics.abo4401] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2022]
Abstract
The limited force or torque outputs of miniature magnetic actuators constrain the locomotion performances and functionalities of magnetic millimeter-scale robots. Here, we present a magnetically actuated gearbox with a maximum size of 3 millimeters for driving wireless millirobots. The gearbox is assembled using microgears that have reference diameters down to 270 micrometers and are made of aluminum-filled epoxy resins through casting. With a magnetic disk attached to the input shaft, the gearbox can be driven by a rotating external magnetic field, which is not more than 6.8 millitesla, to produce torque of up to 0.182 millinewton meters at 40 hertz. The corresponding torque and power densities are 12.15 micronewton meters per cubic millimeter and 8.93 microwatt per cubic millimeter, respectively. The transmission efficiency of the gearbox in the air is between 25.1 and 29.2% at actuation frequencies ranging from 1 to 40 hertz, and it lowers when the gearbox is actuated in viscous liquids. This miniature gearbox can be accessed wirelessly and integrated with various functional modules to repeatedly generate large actuation forces, strains, and speeds; store energy in elastic components; and lock up mechanical linkages. These characteristics enable us to achieve a peristaltic robot that can crawl on a flat substrate or inside a tube, a jumping robot with a tunable jumping height, a clamping robot that can sample solid objects by grasping, a needle-puncture robot that can take samples from the inside of the target, and a syringe robot that can collect or release liquids.
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Affiliation(s)
- Chong Hong
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.,State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China
| | - Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.,Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
| | - Che Wang
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China
| | - Mingtong Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Yingdan Wu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Dewei Tang
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.,Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland.,School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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22
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Bergbreiter S. Jumping robot bests biology by enhancing stored energy. Nature 2022; 604:627-628. [PMID: 35478230 DOI: 10.1038/d41586-022-01077-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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