Insect-Scale SMAW-Based Soft Robot With Crawling, Jumping, and Loading Locomotion

Huang, Wenqiang1,2; Shang, Wanfeng3,4; Huang, Yueheng1,2; Long, Hongyu5; Wu, Xinyu4,6,7

2022-10-01

10.1109/LRA.2022.3190621

IEEE Robotics and Automation Letters   影响因子和分区

2377-3766

The work develops an insect-scale soft robot capable of fast directional locomotion actuated by itself spring-like body composed of shape memory alloy wires (SMAWs)-based composite. The soft composite is fabricated integrating polydimethylsiloxane (PDMS) matrix, 3D printed acrylonitrile-butadiene-styrene (ABS) substrate, and parallel multi-SMAWs with the diameter of 0.075 mm. Since it can implant the thermal-induced SMAW deformation and rapidly cause the elastic recovery feature of ABS resin material, the soft composite can act as the insect-scale robotic actuator to imitate the longitudinal muscle. The designed structure can convert the repetitive contraction-stretch behavior of the embedded SMAWs to the bending-expanding deformation of the robotic soft body, which forms the robotic different gaits. With the excitation of pulse-width modulation (PWM) voltages with various frequencies, different characteristics of the designed robot are compared. The experimental results validate that the designed soft robot can reach a movement speed of similar to 29.87 mm/s with jumping locomotion, greater than one-time body-length/s, and afford a load of similar to 11.1 g, about 24.1 times the weight of itself.

Insect-scale robot micro robot SMA-actuated inchworm robot

SCI ; EI

英语

其他

National Natural Science Foundation of China[62073308] ; Key-Area Research and Development Program of Guangdong Province[2020B090925001] ; Shenzhen Key Basic Research projection[JCYJ20200109114827177]

Robotics

Robotics

WOS:000830009100023

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

20222912379477

3D printers ; ABS resins ; Deformation ; Polydimethylsiloxane ; Robots ; Shape memory effect ; Silicones ; Styrene ; Voltage control

Specific Variables Control:731.3 ; Robotics:731.5 ; Printing Equipment:745.1.1 ; Organic Compounds:804.1 ; Organic Polymers:815.1.1 ; Physical Properties of Gases, Liquids and Solids:931.2 ; Materials Science:951

Web of Science

1.Chinese Acad Sci, Shenzhen Inst Adv Technol, Beijing 100045, Peoples R China
2.Southern Univ Sci & Technol, Shenzhen 518055, Peoples R China
3.Guangdong Hong Kong Macao Joint Lab Human Machine, Shenzhen, Peoples R China
4.Chinese Acad Sci, Shenzhen Inst Adv Technol, Shenzhen 518055, Peoples R China
5.Chongqing Univ Posts & Telecommun, Chongqing Key Lab Complex Syst & Bion Control, Chongqing 400065, Peoples R China
6.Shenzhen Inst Artificial Intelligence & Robot Soc, Guangdong Prov Key Lab Robot & Intelligent Syst, Shenzhen, Peoples R China
7.Shenzhen Inst Artificial Intelligence & Robot Soc, SIAT Branch, Shenzhen, Peoples R China

Huang, Wenqiang,Shang, Wanfeng,Huang, Yueheng,et al. Insect-Scale SMAW-Based Soft Robot With Crawling, Jumping, and Loading Locomotion[J]. IEEE Robotics and Automation Letters,2022,7(4):9287-9293.

Huang, Wenqiang,Shang, Wanfeng,Huang, Yueheng,Long, Hongyu,&Wu, Xinyu.(2022).Insect-Scale SMAW-Based Soft Robot With Crawling, Jumping, and Loading Locomotion.IEEE Robotics and Automation Letters,7(4),9287-9293.

Huang, Wenqiang,et al."Insect-Scale SMAW-Based Soft Robot With Crawling, Jumping, and Loading Locomotion".IEEE Robotics and Automation Letters 7.4(2022):9287-9293.