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, 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 mm 3 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.

Fast‐Moving and Highly Adaptable Hollow Piezoelectric Miniature Robot

“…According to related research works, it is known that similar types of robots also utilize elliptical trajectories in conjunction with friction to generate driving forces. [3,31,39,43,44] However, in the elliptical trajectories characterized in Figure 2c, the majority of research works essentially use the displacement trajectories of the stages S 3 -S 4 to drive the robot. The trajectories in stages S 1 and S 2 separate the robot from the ground and overcome its roughness, with practically no driving effect.…”

“…Miniature robots have recently gained attention as a hot topic for robotics research. [1][2][3] They can access confined spaces or harsh conditions that conventional actuators cannot do due to their compact size, lightweight, straightforward design, and great adaptability. [4,5] As can be seen, there is a wide range of potential applications for miniature robots, including disaster relief, [6] remote reconnaissance, [7] and medical treatment.…”

Bio‐Mimic, Fast‐Moving, and Flippable Soft Piezoelectric Robots

“…In addition, robots based on vibration mechanisms usually have a backward motion phase within a cycle, limiting further improvements in efficiency and speed. [62] Polyvinylidene fluoride (PVDF) as a smart piezoelectric material stands out among various soft actuators with its low power consumption, high efficiency, and fast response. Compared to the traditional PZT actuators with drawbacks such as toxicity, high excitation frequency, small amplitude, and brittleness, PVDF drivers have the advantages of softness, low excitation frequency, large strain, nontoxicity, etc.…”

“…In addition, robots based on vibration mechanisms usually have a backward motion phase within a cycle, limiting further improvements in efficiency and speed. [ 62 ]…”

Biorobotic Waterfowl Flipper with Skeletal Skins in a Computational Framework: Kinematic Conformation and Hydrodynamic Analysis

“…In this context, the hindlimbs reversibly generate rapid and stable structural deformations due to the fluid force. [ 14 ] In addition, the fluid force magnitude depends on the size and shape of the hindlimbs (particularly the flippers), orientation of the flippers relative to the locomotion, and speed of the flipper propulsion. Recently, we reported that the flipper has a slight wave component in the low‐speed oscillatory motion during the aquatic posture adjustment of the cormorant, as shown in Movie S1, Supporting Information.…”