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Kim MS, Heo JK, Rodrigue H, Lee HT, Pané S, Han MW, Ahn SH. Shape Memory Alloy (SMA) Actuators: The Role of Material, Form, and Scaling Effects. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2208517. [PMID: 37074738 DOI: 10.1002/adma.202208517] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/16/2022] [Revised: 04/11/2023] [Indexed: 05/03/2023]
Abstract
Shape memory alloys (SMAs) are smart materials that are widely used to create intelligent devices because of their high energy density, actuation strain, and biocompatibility characteristics. Given their unique properties, SMAs are found to have significant potential for implementation in many emerging applications in mobile robots, robotic hands, wearable devices, aerospace/automotive components, and biomedical devices. Here, the state-of-the-art of thermal and magnetic SMA actuators in terms of their constituent materials, form, and scaling effects are summarized, including their surface treatments and functionalities. The motion performance of various SMA architectures (wires, springs, smart soft composites, and knitted/woven actuators) is also analyzed. Based on the assessment, current challenges of SMAs that need to be addressed for their practical application are emphasized. Finally, how to advance SMAs by synergistically considering the effects of material, form, and scale is suggested.
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Affiliation(s)
- Min-Soo Kim
- Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH-8092, Switzerland
| | - Jae-Kyung Heo
- Department of Mechanical Engineering, Seoul National University, Seoul, 08826, Republic of Korea
| | - Hugo Rodrigue
- School of Mechanical Engineering, Sungkyunkwan University, Gyeonggido, 16419, Republic of Korea
| | - Hyun-Taek Lee
- Department of Mechanical Engineering, Inha University, Incheon, 22212, Republic of Korea
| | - Salvador Pané
- Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH-8092, Switzerland
| | - Min-Woo Han
- Department of Mechanical, Robotics and Energy Engineering, Dongguk University, Seoul, 04620, Republic of Korea
| | - Sung-Hoon Ahn
- Department of Mechanical Engineering, Seoul National University, Seoul, 08826, Republic of Korea
- Institute of Advanced Machines and Design, Seoul National University, Seoul, 08826, Republic of Korea
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2
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Ma S, Zhao Q, Ding M, Zhang M, Zhao L, Huang C, Zhang J, Liang X, Yuan J, Wang X, He G. A Review of Robotic Fish Based on Smart Materials. Biomimetics (Basel) 2023; 8:227. [PMID: 37366822 DOI: 10.3390/biomimetics8020227] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/22/2023] [Revised: 05/21/2023] [Accepted: 05/24/2023] [Indexed: 06/28/2023] Open
Abstract
The present study focuses on summarizing the recent advancements in the field of fish swimming mode research and bionic robotic fish prototypes based on smart materials. It has been widely acknowledged that fish exhibit exceptional swimming efficiency and manoeuvrability compared to conventional underwater vehicles. In the pursuit of developing autonomous underwater vehicles (AUVs), conventional experimental methods often prove to be complex and expensive. Hence, the utilization of computer simulations for hydrodynamic modelling provides a cost-effective and efficient approach for analysing the swimming behaviour of bionic robotic fish. Additionally, computer simulations can provide data that are difficult to obtain through experimental methods. Smart materials, which integrate perception, drive, and control functions, are increasingly being applied to bionic robotic fish research. However, the utilization of smart materials in this field is still an area of ongoing research and several challenges remain unresolved. This study provides an overview of the current state of research on fish swimming modes and the development of hydrodynamic modelling. The application of four distinct types of smart materials in bionic robotic fish is then reviewed, with a focus on analysing the advantages and disadvantages of each material in driving swimming behaviour. In conclusion, the paper highlights the key technical challenges that must be addressed for the practical implementation of bionic robotic fish and provides insights into the potential future directions of this field.
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Affiliation(s)
- Shiwei Ma
- School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144, China
| | - Quanliang Zhao
- School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144, China
| | - Meixi Ding
- School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144, China
| | - Mengying Zhang
- School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144, China
| | - Lei Zhao
- School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144, China
| | - Can Huang
- School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144, China
| | - Jie Zhang
- School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144, China
| | - Xu Liang
- School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144, China
| | - Junjie Yuan
- School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144, China
| | - Xingtao Wang
- College of Engineering and Technology, Zunyi Normal University, Zunyi 563006, China
| | - Guangping He
- School of Mechanical and Materials Engineering, North China University of Technology, Beijing 100144, China
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Zhang CW, Zou W, Yu HC, Hao XP, Li G, Li T, Yang W, Wu ZL, Zheng Q. Manta Ray Inspired Soft Robot Fish with Tough Hydrogels as Structural Elements. ACS APPLIED MATERIALS & INTERFACES 2022; 14:52430-52439. [PMID: 36351752 DOI: 10.1021/acsami.2c17009] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
The design of soft robots capable of navigation underwater has received tremendous research interest due to the robots' versatile applications in marine explorations. Inspired by marine animals such as jellyfish, scientists have developed various soft robotic fishes by using elastomers as the major material. However, elastomers have a hydrophobic network without embedded water, which is different from the gel-state body of the prototypes and results in high contrast to the surrounding environment and thus poor acoustic stealth. Here, we demonstrate a manta ray-inspired soft robot fish with tailored swimming motions by using tough and stiff hydrogels as the structural elements, as well as a dielectric elastomer as the actuating unit. The switching between actuated and relaxed states of this unit under wired power leads to the flapping of the pectoral fins and swimming of the gel fish. This robot fish has good stability and swims with a fast speed (∼10 cm/s) in freshwater and seawater over a wide temperature range (4-50 °C). The high water content (i.e., ∼70 wt %) of the robot fish affords good optical and acoustic stealth properties under water. The excellent mechanical properties of the gels also enable easy integration of other functional units/systems with the robot fish. As proof-of-concept examples, a temperature sensing system and a soft gripper are assembled, allowing the robot fish to monitor the local temperature, raise warning signals by lighting, and grab and transport an object on demand. Such a robot fish should find applications in environmental detection and execution tasks under water. This work should also be informative for the design of other soft actuators and robots with tough hydrogels as the building blocks.
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Affiliation(s)
- Chuan Wei Zhang
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Weifeng Zou
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
| | - Hai Chao Yu
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Xing Peng Hao
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Guorui Li
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
| | - Tiefeng Li
- State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
- Center for X-Mechanics, Zhejiang University, Hangzhou 310027, China
| | - Wei Yang
- Center for X-Mechanics, Zhejiang University, Hangzhou 310027, China
| | - Zi Liang Wu
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Qiang Zheng
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, China
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Kim HS, Heo JK, Choi IG, Ahn SH, Chu WS. Shape memory alloy-driven undulatory locomotion of a soft biomimetic ray robot. BIOINSPIRATION & BIOMIMETICS 2021; 16:066006. [PMID: 34020436 DOI: 10.1088/1748-3190/ac03bc] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/23/2020] [Accepted: 05/21/2021] [Indexed: 06/12/2023]
Abstract
The objective of this study was to imitate undulatory motion, which is a commonly observed swimming mechanism of rays, using a soft morphing actuator. To achieve the undulatory motion, an artificial muscle built with shape memory alloy-based soft actuators was exploited to control the shape-changing behavior of a soft fin membrane. Artificial undulating fins were divided into two categories according to the method of generating the wave motion: single and multiple actuator-driven fins. For empirical research on the transformation and propulsion behavior of each fin type, the design and construction of bound propulsors were undertaken to mimic the structural and behavioral aspects of animals. To visualize the effect of undulatory motion on the swimming efficiency test of the fin beat frequency, a simplified soft undulating fin with a rectangular propulsor was constructed and tested. Additionally, dynamic modeling of the fin tip in wave-traveling was conducted for comparison and optimization. To optimize the thrust and propulsion efficiency of robot speed, the effects of the wave amplitude control and actuator sequence on the fin behavior were examined. An untethered robot was constructed according to the experimental results of the propulsors. Both exhibited exceptional swimming efficiency and maneuverability. The multiple actuator-driven ray robot exhibited a maximum swimming speed of 0.25 body lengths per second which is almost a similar swimming speed with previously reported robots. The developed robot achieved directional swimming (forward and backward) and turning (including rotation). Underwater exploration in an artificial environment was performed using the robot.
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Affiliation(s)
- Hyung-Soo Kim
- Department of Mechanical Engineering, Seoul National University, Gwanak-Ro 1, Gwanak-gu, Seoul, 08826, Republic of Korea
| | - Jae-Kyung Heo
- Department of Mechanical Engineering, Seoul National University, Gwanak-Ro 1, Gwanak-gu, Seoul, 08826, Republic of Korea
| | - In-Gyu Choi
- Department of Mechanical Engineering, Seoul National University, Gwanak-Ro 1, Gwanak-gu, Seoul, 08826, Republic of Korea
| | - Sung-Hoon Ahn
- Department of Mechanical Engineering, Seoul National University, Gwanak-Ro 1, Gwanak-gu, Seoul, 08826, Republic of Korea
- Institute of Advanced Machinery and Design, Seoul National University, Gwanak-Ro 1, Gwanak-gu, Seoul, 08826, Republic of Korea
| | - Won-Shik Chu
- Department of Mechanical Convergence Engineering, Gyeongsang National University, 54, 48-Bun-gil Charyong-ro, Uichang-gu, Changwon, Gyeongnam 51391, Republic of Korea
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5
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Li Y, Chen L, Wang Y, Ren C. Design and experimental evaluation of the novel undulatory propulsors for biomimetic underwater robots. BIOINSPIRATION & BIOMIMETICS 2021; 16:056005. [PMID: 34198281 DOI: 10.1088/1748-3190/ac10b0] [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: 02/04/2021] [Accepted: 07/01/2021] [Indexed: 06/13/2023]
Abstract
Inspired by wide and elongated fins of aquatic species, robotic undulatory propulsors are developed to achieve advanced maneuverability. Through biological observation, undulatory fins are typically comprised of more than 100 fin rays to propagate continuous and diverse propulsive waves for agile locomotion. Due to practical engineering restrictions, most robotic undulatory propulsors are characterized by limit number of long fin rays which intersect flexible fin surfaces as backbones and partition them into multiple membrane-like segments. As spatially discrete surfaces affect waves traveling and thrust efficiency, a novel undulatory propulsor has been proposed in this paper. By taking advantage of an arc-shaped fin surface and its material properties, the newly developed undulatory propulsor is equipped with a series of custom designed fin rays, which are only fastened on the inner edge of fin surface so that the unconstrained part is flexural passively to form a smooth fin profile. To discuss appropriate fin surface configurations for such newly developed propulsor, a series of experiments have been conducted to explore the effects of fin surface material, thickness and morphology on thrust and power consumption. Results reveal the fin surface made of nitrile rubber with 2 mm thickness and aspect ratio of 0.33 is highly recommended when taking into account both propulsive forces and loads suffered by fin rays' actuators. To validate the improvement of thrust efficiency, comparison experiments have been carried out between the conventional and the newly developed undulatory propulsors. The findings indicate smooth sinusoid-like fin profiles contribute to wave propagation, which makes the newly developed undulatory fin outperform the conventional one. Finally, a rajiform-inspired robot prototype has been introduced to assess multi-DOFs maneuverability. The experiments show the biomimetic robot can achieve diverse locomotion including swimming forward, turning in-place and rising/diving propelled by a pair of undulatory propulsors.
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Affiliation(s)
- Yaxin Li
- School of Electrical Engineering and Information, Southwest Petroleum University, No.8 Xindu Avenue, Chengdu, 610500, People's Republic of China
| | - Lingguo Chen
- School of Electrical Engineering and Information, Southwest Petroleum University, No.8 Xindu Avenue, Chengdu, 610500, People's Republic of China
| | - Yu Wang
- School of Electrical Engineering and Information, Southwest Petroleum University, No.8 Xindu Avenue, Chengdu, 610500, People's Republic of China
| | - Cheng Ren
- School of Electrical Engineering and Information, Southwest Petroleum University, No.8 Xindu Avenue, Chengdu, 610500, People's Republic of China
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6
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Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control. JOURNAL OF ROBOTICS 2021. [DOI: 10.1155/2021/5542920] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
Since its beginning, around the 50s decade, until present days, the area of unmanned underwater vehicles (UUV) has considerably grown through time; those have been used for many tasks and applications, from bomb searching and recovery to sea exploration. Initially, these robots were used mainly for military and scientific purposes. However, nowadays, they are very much extended into civils, and it is not hard to find them being used for recreation. In this context, the present research is an effort to make a walkthrough of evolution in this area, showing a diversity of structure designs, used materials, sensor and instrumentation technologies, kinds and the number of actuators employed, navigation control techniques, and what is new in development trends. The paper gives a clear starting point for those who are initializing into this research area; also, it brings some helpful knowledge for those who already have experience.
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7
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Fu S, Wei F, Yin C, Yao L, Wang Y. Biomimetic soft micro-swimmers: from actuation mechanisms to applications. Biomed Microdevices 2021; 23:6. [PMID: 33420838 DOI: 10.1007/s10544-021-00546-3] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 01/05/2021] [Indexed: 12/26/2022]
Abstract
Underwater robot designs inspired by the behavior and morphological characteristics of aquatic animals can provide reinforced mobility and energy efficiency. In the past two decades, the emerging materials science and integrated circuit technology have been combined and applied to various types of bionic soft underwater miniaturized robots by researchers around the world. Further, the potential applications of biomimetic soft micro-swimmers in the biological and medical fields have been explored. Here, this paper reviews the development of biomimetic soft tiny swimmers, which are designed based on a variety of intelligent materials and control strategies. This review focuses on the various actuation mechanisms of soft tiny swimmers reported in the past two decades and classifies these robots into four categories: fish-like, snake-like, jellyfish-like and microbial-inspired ones. Besides, this review considers the practical challenges faced by actuation mechanisms of each type of robot, and summarizes and prospects how these challenges affect the potential applications of robots in real environments.
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Affiliation(s)
- Shihan Fu
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China
| | - Fanan Wei
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China.
| | - Chao Yin
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China
| | - Ligang Yao
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China
| | - Yaxiong Wang
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China
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8
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Costello JH, Colin SP, Dabiri JO, Gemmell BJ, Lucas KN, Sutherland KR. The Hydrodynamics of Jellyfish Swimming. ANNUAL REVIEW OF MARINE SCIENCE 2021; 13:375-396. [PMID: 32600216 DOI: 10.1146/annurev-marine-031120-091442] [Citation(s) in RCA: 24] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Jellyfish have provided insight into important components of animal propulsion, such as suction thrust, passive energy recapture, vortex wall effects, and the rotational mechanics of turning. These traits are critically important to jellyfish because they must propel themselves despite severe limitations on force production imposed by rudimentary cnidarian muscular structures. Consequently, jellyfish swimming can occur only by careful orchestration of fluid interactions. Yet these mechanics may be more broadly instructive because they also characterize processes shared with other animal swimmers, whose structural and neurological complexity can obscure these interactions. In comparison with other animal models, the structural simplicity, comparative energetic efficiency, and ease of use in laboratory experimentation allow jellyfish to serve as favorable test subjects for exploration of the hydrodynamic bases of animal propulsion. These same attributes also make jellyfish valuable models for insight into biomimetic or bioinspired engineeringof swimming vehicles. Here, we review advances in understanding of propulsive mechanics derived from jellyfish models as a pathway toward the application of animal mechanics to vehicle designs.
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Affiliation(s)
- John H Costello
- Department of Biology, Providence College, Providence, Rhode Island 02918, USA;
| | - Sean P Colin
- Department of Marine Biology and Environmental Science, Roger Williams University, Bristol, Rhode Island 02809, USA;
| | - John O Dabiri
- Graduate Aerospace Laboratories and Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, California 91125, USA;
| | - Brad J Gemmell
- Department of Integrative Biology, University of South Florida, Tampa, Florida 33620, USA;
| | - Kelsey N Lucas
- School for Environment and Sustainability, University of Michigan, Ann Arbor, Michigan 48109, USA;
| | - Kelly R Sutherland
- Oregon Institute of Marine Biology, University of Oregon, Eugene, Oregon 97403, USA;
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The Tension-Twist Coupling Mechanism in Flexible Composites: A Systematic Study Based on Tailored Laminate Structures Using a Novel Test Device. Polymers (Basel) 2020; 12:polym12122780. [PMID: 33255503 PMCID: PMC7760722 DOI: 10.3390/polym12122780] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/06/2020] [Revised: 11/20/2020] [Accepted: 11/22/2020] [Indexed: 11/17/2022] Open
Abstract
The focus of this research is to quantify the effect of load-coupling mechanisms in anisotropic composites with distinct flexibility. In this context, the study aims to realize a novel testing device to investigate tension-twist coupling effects. This test setup includes a modified gripping system to handle composites with stiff fibers but hyperelastic elastomeric matrices. The verification was done with a special test plan considering a glass textile as reinforcing with different lay-ups to analyze the number of layers and the influence of various fiber orientations onto the load-coupled properties. The results demonstrated that the tension-twist coupling effect strongly depends on both the fiber orientation and the considered reinforcing structure. This enables twisting angles up to 25° with corresponding torque of about 82.3 Nmm, which is even achievable for small lay-ups with 30°/60° oriented composites with distinct asymmetric deformation. For lay-ups with ±45° oriented composites revealing a symmetric deformation lead, as expected, no tension-twist coupling effect was seen. Overall, these findings reveal that the described novel test device provides the basis for an adequate and reliable determination of the load-coupled material properties between stiff fibers and hyperelastic matrices.
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10
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Li H, Yao J, Liu C, Zhou P, Xu Y, Zhao Y. A Bioinspired Soft Swallowing Robot Based on Compliant Guiding Structure. Soft Robot 2020; 7:491-499. [PMID: 31905326 DOI: 10.1089/soro.2018.0154] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023] Open
Abstract
From small unicellular organisms to large mammals, swallowing is an important way for them to interact with their external environment. The majority of these animals swallow their targets for the purpose of hunting, and some fish and amphibians protect their cubs from external injury by swallowing them. Thus, swallowing can produce an efficient capture, keep the integrity of targets, and provide effective protection for swallowed objects. Inspired by this, we propose a novel soft swallowing robot (SSR) capable of swallowing various objects that have different shapes and stiffnesses, protecting objects from squeeze and collision, and withstanding high temperature, which are enabled by a compliant guiding structure consisting of a double thin-walled capsule filled with fluid and a linearly movable traction body. In this article, we study the SSR supported by air and water, respectively; furthermore, we experimentally conclude that the working medium has a great influence on the inherent characteristics of the SSR. Our study helps lay the foundation for the research of soft robotic systems with swallowing characteristics, and the SSR is expected to enter the practical application field from the laboratory.
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Affiliation(s)
- Haili Li
- Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
| | - Jiantao Yao
- Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China.,Key Laboratory of Advanced Forging and Stamping Technology and Science, Ministry of Education of China, Yanshan University, Qinhuangdao, China
| | - Chunye Liu
- Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
| | - Pan Zhou
- Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
| | - Yundou Xu
- Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
| | - Yongsheng Zhao
- Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China.,Key Laboratory of Advanced Forging and Stamping Technology and Science, Ministry of Education of China, Yanshan University, Qinhuangdao, China
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11
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Lee JH, Chung YS, Rodrigue H. Long Shape Memory Alloy Tendon-based Soft Robotic Actuators and Implementation as a Soft Gripper. Sci Rep 2019; 9:11251. [PMID: 31375746 PMCID: PMC6677814 DOI: 10.1038/s41598-019-47794-1] [Citation(s) in RCA: 37] [Impact Index Per Article: 7.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/14/2019] [Accepted: 07/24/2019] [Indexed: 11/22/2022] Open
Abstract
Shape memory alloy (SMA) wire-based soft actuators have had their performance limited by the small stroke of the SMA wire embedded within the polymeric matrix. This intrinsically links the bending angle and bending force in a way that made SMA-based soft grippers have relatively poor performance versus other types of soft actuators. In this work, the use of free-sliding SMA wires as tendons for soft actuation is presented that enables large increases in the bending angle and bending force of the actuator by decoupling the length of the matrix and the length of the SMA wires while also allowing for the compact packaging of the driving SMA wires. Bending angles of 400° and tip forces of 0.89 N were achieved by the actuators in this work using a tendon length up to 350 mm. The tendons were integrated as a compact module using bearings that enables the actuator to easily be implemented in various soft gripper configurations. Three fingers were used either in an antagonistic configuration or in a triangular configuration and the gripper was shown to be capable of gripping a wide range of objects weighing up to 1.5 kg and was easily installed on a robotic arm. The maximum pulling force of the gripper was measured to be 30 N.
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Affiliation(s)
- Ji-Hyeong Lee
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, 16419, Republic of Korea
| | - Yoon Seop Chung
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, 16419, Republic of Korea
| | - Hugo Rodrigue
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, 16419, Republic of Korea.
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12
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FludoJelly: Experimental Study on Jellyfish-Like Soft Robot Enabled by Soft Pneumatic Composite (SPC). ROBOTICS 2019. [DOI: 10.3390/robotics8030056] [Citation(s) in RCA: 21] [Impact Index Per Article: 4.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023] Open
Abstract
Several bio-inspired underwater robots have been demonstrated in the last few years that can horizontally swim using different smart actuators. However, very few works have been presented on robots which can swim vertically, have a payload and resemble a jellyfish-like creature. In this work, we present the design, fabrication, and performance characterization of a new tethered robotic jellyfish, which is based on inflatable soft pneumatic composite (SPC) actuators. These soft actuators use compressed air to expand and contract, which help the robot to swim vertically in water. The soft actuators consist of elastomeric air chambers and very thin steel springs, which contribute to gaining faster motion of the biomimetic robot. A prototype of 220 mm in diameter and consisting of eight actuating units was fabricated and tested underwater in a fish tank. It reached a height of 400 mm within 2.5 s while carrying a dead weight of 100 g when tested at 70 psi (483 kPa) pressure. This high performance (160 mm/s on average speed) suggests that faster motion with a payload can be achieved by using SPC actuators. The inflatable structures help to flap the bell segments as well as in buoyancy effect for rapid vertical motion. The major achievement of this work is the ability to demonstrate a novel use of inflatable structures and biomimetic flapping wings for fast motion in water. The experimental and deduced data from this work can be used for the design of future small unmanned underwater vehicles (UUVs). This work adds a new robot to the design space of biomimetic jellyfish-like soft robots. Such kind of vehicle design might also be useful for transporting objects underwater effectively.
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13
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Jiang P, Yang Y, Chen MZQ, Chen Y. A variable stiffness gripper based on differential drive particle jamming. BIOINSPIRATION & BIOMIMETICS 2019; 14:036009. [PMID: 30726774 DOI: 10.1088/1748-3190/ab04d1] [Citation(s) in RCA: 19] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/09/2023]
Abstract
Compared with rigid grippers, soft grippers show fantastic adaptability and flexibility in grasping irregularly shaped and fragile objects. However, the low stiffness of the soft actuator limits the scope of applications. Particle jamming has emerged as an important method to adjust the stiffness of soft grippers. This paper proposes a novel particle jamming mechanism based on the differential pressure drive. With the differential drive particle jamming mechanism, a soft actuator is designed, which is characterized by a dual-deformable chamber structure in which one chamber is filled with particles. The simultaneous inflation of the two chambers will result in the bending behavior without significant stiffening. However, if the air chamber is pressurized with a larger pressure, the differential pressure will cause the particles inside the particle chamber to jam each other, which increases the stiffness of the actuator significantly. Thus, the differential drive particle jamming mechanism can achieve the independent control of the stiffness and the bending angle. Both theoretical and experimental studies in this area have shown that the gripper based on the differential drive particle jamming mechanism can stiffen itself effectively, and achieve the independent control of the stiffness and the bending angle, which can be adopted in applications where both high stiffness and dexterity are required.
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Affiliation(s)
- Pei Jiang
- College of Mechanical Engineering, Chongqing University, Chongqing 400030, People's Republic of China
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14
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Wen L, Ren Z, Di Santo V, Hu K, Yuan T, Wang T, Lauder GV. Understanding Fish Linear Acceleration Using an Undulatory Biorobotic Model with Soft Fluidic Elastomer Actuated Morphing Median Fins. Soft Robot 2018; 5:375-388. [DOI: 10.1089/soro.2017.0085] [Citation(s) in RCA: 31] [Impact Index Per Article: 5.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/17/2022] Open
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Wang W, Ahn SH. Shape Memory Alloy-Based Soft Gripper with Variable Stiffness for Compliant and Effective Grasping. Soft Robot 2017; 4:379-389. [DOI: 10.1089/soro.2016.0081] [Citation(s) in RCA: 167] [Impact Index Per Article: 23.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Affiliation(s)
- Wei Wang
- Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea
- Institute of Advanced Machines and Design, Seoul National University, Seoul, Korea
| | - Sung-Hoon Ahn
- Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea
- Institute of Advanced Machines and Design, Seoul National University, Seoul, Korea
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