Untethered Miniature Tensegrity Robot with Tunable Stiffness for High-Speed and Adaptive Locomotion

被引:0
作者
Chen, Bingxing [1 ]
He, Zhiyu [1 ]
Ye, Fang [1 ]
Yang, Yi [1 ]
Chen, Wenhu [1 ]
Ding, Fuhui [1 ]
Gao, Dan [2 ]
Zhao, Yi [1 ]
Lu, Zongxing [1 ]
Jia, Chao [1 ]
机构
[1] Fuzhou Univ, Sch Mech Engn & Automat, Bldg 1,Natl Sci Pk,Qishan Campus, Fuzhou 350108, Peoples R China
[2] Fujian Jiangxia Univ, Dept Math & Sci, Fuzhou, Peoples R China
基金
中国国家自然科学基金;
关键词
tunable stiffness; high-speed and adaptive locomotion; untethered miniature tensegrity robot; FRAMEWORKS; PERFORMANCE; SUPERBALL; DESIGN; FISH;
D O I
10.1089/soro.2024.0178
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Miniature robots are increasingly used in unstructured environments and require higher mobility, robustness, and multifunctionality. However, existing purely soft and rigid designs suffer from inherent defects, such as low load capacity and compliance, respectively, restricting their functionality and performance. Here, we report new soft-rigid hybrid miniature robots applying the tensegrity principle, inspired by biological organisms' remarkable multifunctionality through tensegrity micro-structures. The miniature robot's speed of 25.07 body lengths per second is advanced among published miniature robots and tensegrity robots. The design versatility is demonstrated by constructing three bio-inspired robots using miniature tensegrity joints. Due to its internal load-transfer mechanisms, the robot has self-adaptability, deformability, and high impact resistance (withstand dynamic load 143,868 times the robot weight), enabling the robot to navigate diverse barriers, pipelines, and channels. The robot can vary its stiffness to greatly improve load capacity and motion performance. We further demonstrate the potential biomedical applications, such as drug delivery, impurity removal, and remote heating achieved by integrating metal into the robot.
引用
收藏
页数:11
相关论文
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