All-optical driven soft crawler with complex motion capabilities

Chenchu Zhang; Jin Wang; Linhan Zhao; Renfei Chen; Qiangqiang Zhao; Jie Zhao; Fating Liu; Yucheng Bian; Heng Zhang; Yisen Wang; Chaowei Wang; Ying Hu

doi:10.1080/19475411.2024.2353312

International Journal of Smart and Nano Materials (Apr 2024)

All-optical driven soft crawler with complex motion capabilities

Chenchu Zhang,
Jin Wang,
Linhan Zhao,
Renfei Chen,
Qiangqiang Zhao,
Jie Zhao,
Fating Liu,
Yucheng Bian,
Heng Zhang,
Yisen Wang,
Chaowei Wang,
Ying Hu

Affiliations

Chenchu Zhang: Anhui Province Key Lab of Aerospace Structural Parts Forming Technology and Equipment, Institute of Industry and Equipment Technology, Hefei University of Technology, Hefei, China
Jin Wang: Anhui Province Key Lab of Aerospace Structural Parts Forming Technology and Equipment, Institute of Industry and Equipment Technology, Hefei University of Technology, Hefei, China
Linhan Zhao: Anhui Province Key Lab of Aerospace Structural Parts Forming Technology and Equipment, Institute of Industry and Equipment Technology, Hefei University of Technology, Hefei, China
Renfei Chen: Anhui Province Key Lab of Aerospace Structural Parts Forming Technology and Equipment, Institute of Industry and Equipment Technology, Hefei University of Technology, Hefei, China
Qiangqiang Zhao: Anhui Province Key Lab of Aerospace Structural Parts Forming Technology and Equipment, Institute of Industry and Equipment Technology, Hefei University of Technology, Hefei, China
Jie Zhao: Anhui Province Key Lab of Aerospace Structural Parts Forming Technology and Equipment, Institute of Industry and Equipment Technology, Hefei University of Technology, Hefei, China
Fating Liu: Anhui Province Key Lab of Aerospace Structural Parts Forming Technology and Equipment, Institute of Industry and Equipment Technology, Hefei University of Technology, Hefei, China
Yucheng Bian: CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China
Heng Zhang: Anhui Province Key Lab of Aerospace Structural Parts Forming Technology and Equipment, Institute of Industry and Equipment Technology, Hefei University of Technology, Hefei, China
Yisen Wang: GBA Branch of Aerospace Information Research Institute, Chinese Academy of Sciences, Guangzhou, China
Chaowei Wang: CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China
Ying Hu: Anhui Province Key Lab of Aerospace Structural Parts Forming Technology and Equipment, Institute of Industry and Equipment Technology, Hefei University of Technology, Hefei, China

DOI: https://doi.org/10.1080/19475411.2024.2353312
Journal volume & issue: Vol. 15, no. 2
pp. 348 – 364

Abstract

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The emergence of millimeter-scale soft actuators has significantly expanded the potential applications in areas such as search and rescue, drug delivery, and human assistance, due to their high flexibility. Despite these advancements, achieving precise control over the intricate movements of soft crawlers poses a significant challenge. In this study, we have developed an all-optical approach that enables manipulation of propulsive forces by simultaneously modifying the magnitude and direction of friction forces, thereby enabling complex motions of soft actuators. Importantly, the approach is not constrained by specific actuator shapes, and theoretically, any elongated photothermal actuator can be employed. The actuator was designed with an isosceles trapezoid shape, featuring a top width of 2 mm, a bottom width of 4 mm, and a length of 8 mm. Through our manipulation approach, we showcase a proof-of-concept for complex soft robotic motions, including crawling (achieving speeds of up to 2.25 body lengths per minute), turning, avoiding obstacles, handling and transferring objects approximately twice its own weight, and navigating narrow spaces along programmed paths. Our results showcase this all-optical manipulation approach as a promising, yet unexplored tool for the precision and wireless control for the development of advanced soft actuators.

Published in International Journal of Smart and Nano Materials

ISSN: 1947-5411 (Print); 1947-542X (Online)
Publisher: Taylor & Francis Group
Country of publisher: United Kingdom
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering: Materials of engineering and construction. Mechanics of materials
Website: https://www.tandfonline.com/journals/tsnm

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