Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules
Abstract Amphibious robots can undertake various tasks in terrestrial and aquatic environments for their superior environmental compatibility. However, the existing amphibious robots usually utilize multi‐locomotion systems with transmission mechanisms, leading to complex and bulky structures. Here,...
| Main Authors: | , , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2022-10-01
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| Series: | Advanced Science |
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| Online Access: | https://doi.org/10.1002/advs.202203054 |
| _version_ | 1828725926610862080 |
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| author | Dehong Wang Yingxiang Liu Jie Deng Shijing Zhang Jing Li Weiyi Wang Junkao Liu Weishan Chen Qiquan Quan Gangfeng Liu Hui Xie Jie Zhao |
| author_facet | Dehong Wang Yingxiang Liu Jie Deng Shijing Zhang Jing Li Weiyi Wang Junkao Liu Weishan Chen Qiquan Quan Gangfeng Liu Hui Xie Jie Zhao |
| author_sort | Dehong Wang |
| collection | DOAJ |
| description | Abstract Amphibious robots can undertake various tasks in terrestrial and aquatic environments for their superior environmental compatibility. However, the existing amphibious robots usually utilize multi‐locomotion systems with transmission mechanisms, leading to complex and bulky structures. Here, a miniature amphibious robot based on vibration‐driven locomotion mechanism is developed. The robot has two unique rigid‐flexible hybrid modules (RFH‐modules), in which a soft foot and a flexible fin are arranged on a rigid leg to conduct vibrations from an eccentric motor to the environment. Then, it can run on ground with the soft foot adopting the friction locomotion mechanism and swim on water with the flexible fin utilizing the vibration‐induced flow mechanism. The robot is untethered with a compact size of 75 × 95 × 21 mm3 and a small weight of 35 g owing to no transmission mechanism or joints. It realizes the maximum speed of 815 mm s–1 on ground and 171 mm s–1 on water. The robot, actuated by the RFH‐modules based on vibration‐driven locomotion mechanism, exhibits the merits of miniature structure and fast movements, indicating its great potential for applications in narrow amphibious environments. |
| first_indexed | 2024-04-12T13:34:33Z |
| format | Article |
| id | doaj.art-611af898cc044217a0cb2c2b3c972e68 |
| institution | Directory Open Access Journal |
| issn | 2198-3844 |
| language | English |
| last_indexed | 2024-04-12T13:34:33Z |
| publishDate | 2022-10-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Science |
| spelling | doaj.art-611af898cc044217a0cb2c2b3c972e682022-12-22T03:31:04ZengWileyAdvanced Science2198-38442022-10-01929n/an/a10.1002/advs.202203054Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration ModulesDehong Wang0Yingxiang Liu1Jie Deng2Shijing Zhang3Jing Li4Weiyi Wang5Junkao Liu6Weishan Chen7Qiquan Quan8Gangfeng Liu9Hui Xie10Jie Zhao11State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaState Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 ChinaAbstract Amphibious robots can undertake various tasks in terrestrial and aquatic environments for their superior environmental compatibility. However, the existing amphibious robots usually utilize multi‐locomotion systems with transmission mechanisms, leading to complex and bulky structures. Here, a miniature amphibious robot based on vibration‐driven locomotion mechanism is developed. The robot has two unique rigid‐flexible hybrid modules (RFH‐modules), in which a soft foot and a flexible fin are arranged on a rigid leg to conduct vibrations from an eccentric motor to the environment. Then, it can run on ground with the soft foot adopting the friction locomotion mechanism and swim on water with the flexible fin utilizing the vibration‐induced flow mechanism. The robot is untethered with a compact size of 75 × 95 × 21 mm3 and a small weight of 35 g owing to no transmission mechanism or joints. It realizes the maximum speed of 815 mm s–1 on ground and 171 mm s–1 on water. The robot, actuated by the RFH‐modules based on vibration‐driven locomotion mechanism, exhibits the merits of miniature structure and fast movements, indicating its great potential for applications in narrow amphibious environments.https://doi.org/10.1002/advs.202203054amphibious robotfriction locomotionrigid‐flexible hybrid modulevibration‐induced flow |
| spellingShingle | Dehong Wang Yingxiang Liu Jie Deng Shijing Zhang Jing Li Weiyi Wang Junkao Liu Weishan Chen Qiquan Quan Gangfeng Liu Hui Xie Jie Zhao Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules Advanced Science amphibious robot friction locomotion rigid‐flexible hybrid module vibration‐induced flow |
| title | Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules |
| title_full | Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules |
| title_fullStr | Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules |
| title_full_unstemmed | Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules |
| title_short | Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules |
| title_sort | miniature amphibious robot actuated by rigid flexible hybrid vibration modules |
| topic | amphibious robot friction locomotion rigid‐flexible hybrid module vibration‐induced flow |
| url | https://doi.org/10.1002/advs.202203054 |
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