Wireless Autonomous Soft Crawlers for Adjustable Climbing Actuation  

作　　者：Lei Tian Ji-Ji Tan Wei-Liang Dong Bo Yang Cui-Hua Li Dai Wang Hai-Yu Huang Xin-Tong Li Cai-Zhen Zhu Jian Xu 

机构地区：[1]Institute of Low-Dimensional Materials Genome Initiative,College of Chemistry and Environmental Engineering,Shenzhen University,Shenzhen 518060,China

出　　处：《Chinese Journal of Polymer Science》2023年第3期405-413,I0008,共10页高分子科学（英文版）

基　　金：financially supported by the National Natural Science Foundation of China(Nos.22001175,51973118,22175121 and 52003160);Key-Area Research and Development Program of Guangdong Province(Nos.2019B010929002 and 2019B010941001);the Natural Science Foundation of Guangdong Province(No.2020A1515010644);the Program for Guangdong Introducing Innovative and Enterpreneurial Teams(No.2019ZT08C642);Shenzhen Science and Technology Program(Nos.JCYJ20210324095412035,JCYJ20190808113005643,JCYJ20170818093832350 and JCYJ20180507184711069);the start-up fund of Shenzhen University(No.000002110820)。

摘　　要：Artificial soft actuators,featured with non-equilibrium internal circumstance and fast,programmable shape transformations,have attracted strong research interest recently due to their flexibility,highly controllable,and designability.However,wireless soft actuators,achieving the locomotion on different large slopes with multiple energy conversion,have been rarely reported.Herein,we create a asymmetric bilayer strategy to construct autonomous soft crawler via“breathing”moisture to motivate the mechanical deformation.The soft crawlers present conspicuous performances including periodic tumbler locomotion predicted via improved Timoshenko’s equation,multiple reversible shape-morphing(circle,helix,despiralization,etc.)determined by their fiber orientation,controlled drive mode(front drive and rear drive)and rapid climb speed(4.76 cm/min)at wide slope angles.Through architecture design,they can be series-wound or shunt-wound to construct multijoint complex actuators.Besides climbing,a intelligent soft ring-pull with admirable cycle performance for preventing overheating or something untouchable,has been proposed.The soft crawlers also realize multiple energy conversion to be actuated by light irradiation.We envision that this soft crawler system has an enormous potential in intelligent machine,microscopic diagnosis and treatment,biosensing,energy harvesting and conversion.

关 键 词：Soft crawler Tumbler locomotion Reversible shape-morphing AUTONOMOUS Energy conversion 

分 类 号：TB381[一般工业技术—材料科学与工程]