| Autor: |
Xi Wang, Siqian Li, Jung-Che Chang, Jing Liu, Dragos Axinte, Xin Dong |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
Nature Communications, Vol 15, Iss 1, Pp 1-15 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2041-1723 |
| DOI: |
10.1038/s41467-024-50598-1 |
| Popis: |
Abstract From power plants on land to bridges over the sea, safety-critical built environments require periodic inspections for detecting issues to avoid functional discontinuities of these installations. However, navigation paths in these environments are usually challenging as they often contain difficult-to-access spaces (near-millimetre and submillimetre-high gaps) and multiple domains (solid, liquid and even aerial). In this paper, we address these challenges by developing a class of Thin Soft Robots (TS-Robot: thickness, 1.7 mm) that can access narrow spaces and perform cross-domain multimodal locomotion. We adopted a dual-actuation sandwich structure with a tuneable Poisson’s ratio tensioning mechanism for developing the TS-Robots driven by dielectric elastomers, providing them with two types of gaits (linear and undulating), remarkable output force ( ~ 41 times their weight) and speed (1.16 times Body Length/s and 13.06 times Body Thickness/s). Here, we demonstrated that TS-Robots can crawl, climb, swim and collaborate for transitioning between domains in environments with narrow entries. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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