Journal
PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA
Volume 115, Issue 22, Pages 5698-5702Publisher
NATL ACAD SCIENCES
DOI: 10.1073/pnas.1800386115
Keywords
soft robots; programmable materials; mechanical bistability; shape memory polymer; autonomous propulsion
Categories
Funding
- Army Research Office [W911NF-17-1-0147]
- Eidgenossische Technische Hochschule (ETH) Postdoctoral Fellowship [FEL-26 15-2]
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In most macroscale robotic systems, propulsion and controls are enabled through a physical tether or complex onboard electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while onboard controls and power supplies are heavy and complicate the design process. Here, we present a simple design principle for an untethered, soft swimming robot with preprogrammed, directional propulsion without a battery or onboard electronics. Locomotion is achieved by using actuators that harness the large displacements of bistable elements triggered by surrounding temperature changes. Powered by shape memory polymer (SMP) muscles, the bistable elements in turn actuate the robot's fins. Our robots are fabricated using a commercially available 3D printer in a single print. As a proof of concept, we show the ability to program a vessel, which can autonomously deliver a cargo and navigate back to the deployment point.
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