ACS Appl Mater Interfaces
September 2022
Creating reconfigurable and recyclable soft microrobots that can execute multimodal locomotion has been a challenge due to the difficulties in material processing and structure engineering at a small scale. Here, we propose a facile technique to manufacture diverse soft microrobots (∼100 μm in all dimensions) by mechanically assembling modular magnetic microactuators into different three-dimensional (3D) configurations. The module is composed of a cubic micropillar supported on a square substrate, both made of elastomer matrix embedded with prealigned magnetic nanoparticle chains.
View Article and Find Full Text PDFExperiments and simulations have shown that a droplet can move spontaneously and directionally on a conical substrate. The driving force originating from the gradient of curvatures is revealed as the self-propulsion mechanism. Theoretical analysis of the driving force is highly desirable; currently, most of them are based on a perturbative theory with assuming a weakly curved substrate.
View Article and Find Full Text PDFThe symmetry breaking that is induced by initial imperfection (e.g., geometry or material inhomogeneity and out-of-plane disturbance) is a necessary condition for film buckling.
View Article and Find Full Text PDFThe terrain adaptability of the state-of-the-art robot is far behind natural animals, partly because of limited sensing, intelligence, controlling, and actuating ability. One possible solution is to explore the flexible locomotion structure and locomotion mode with good adaptability and fault tolerance. Based on this idea, we presented a type of vibro-bot with arrayed soft legs (VBASL) with excellent terrain adaptability by utilizing the rapid vibration of the soft belt array.
View Article and Find Full Text PDFControlled tuning of interface adhesion is crucial to a broad range of applications, such as space technology, micro-fabrication, flexible electronics, robotics, and bio-integrated devices. Here, we show a robust and predictable method to continuously regulate interface adhesion by exciting the mechanical micro-vibration in the adhesive system perpendicular to the contact plane. An analytic model reveals the underlying mechanism of adhesion hysteresis and dynamic instability.
View Article and Find Full Text PDFThe fabrication of nanotips has been driven by the increasing industrial demands in developing high-performance multifunctional nanodevices. In this work, we proposed a controlled, rapid as well as low cost nanomolding-necking technology to fabricate gold nanotips arrays. The geometries of gold nanotips having cone angle range of ∼28-77° and curvature radii of <5 nm can be prepared by tailoring the diameters of raw nanorods in nanomolding process or modulating the necking temperature.
View Article and Find Full Text PDFThe performance of mobile soft robots is usually characterized by their locomotion/velocity efficiency, whereas the energy efficiency is a more intrinsic and fundamental criterion for the performance evaluation of independent or integrated soft robots. In this work, a general framework is established to evaluate the energy efficiency of mobile soft robots by considering the efficiency of the energy source, actuator and locomotion, and some insights for improving the efficiency of soft robotic systems are presented. Proposed as the ratio of the desired locomotion kinetic energy to the input mechanical energy, the energy efficiency of locomotion is found to play a critical role in determining the overall energy efficiency of soft robots.
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