Powerful, soft combustion actuators for insect-scale robots
Powerful, soft combustion actuators for insect-scale robots
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DOI：
10.1126/science.adg5067
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发表时间：
2023-09
期刊：
影响因子：
56.9
通讯作者：
C. A. Aubin;Ronald H. Heisser;Ofek Peretz;Julia Timko;Jacqueline Lo;E. F. Helbling;Sadaf Sobhani;A. Gat;Robert F. Shepherd
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文献类型：
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作者：
C. A. Aubin;Ronald H. Heisser;Ofek Peretz;Julia Timko;Jacqueline Lo;E. F. Helbling;Sadaf Sobhani;A. Gat;Robert F. Shepherd
昆虫展现出的力量和耐力足以掩盖它们的矮小身材。昆虫规模的机器人，虽然受到相同的比例法则，表现出降低的性能，因为现有的微致动器技术是由低能量密度的电源驱动，并产生小的力和/或位移。使用高能量密度的化学燃料为小型软致动器提供动力是一种可能的解决方案。我们展示了一个325毫克的软燃烧微致动器，可以实现140%的位移，工作频率>100赫兹，并产生>9.5牛顿的力。有了这些驱动器，我们提供动力的昆虫规模的四足机器人，这表明了各种步态模式，方向控制，和有效载荷能力22倍，其体重。这些特征使其能够在不平坦的地形和障碍物上移动。描述编辑摘要微型机器人系统面临的一个关键挑战是有效地输送动力并将动力转换为机械力和位移。奥宾等人开发了一种轻型致动器，可以通过化学燃料的燃烧以高频驱动（参见Truby的观点）。实现这种快速性能的关键是燃烧的被动淬火，这消除了对阀门的需要。使用这种致动器，作者制造了一个昆虫规模的四足机器人，能够行走，转弯（方向控制）和跳跃，这是一种在微型机器人中不寻常的运动能力的组合。- 马克·S由能量密集的碳氢化合物提供燃料的微执行器产生巨大的力量，为可以爬行和跳跃的微型机器人提供动力。
Insects perform feats of strength and endurance that belie their small stature. Insect-scale robots—although subject to the same scaling laws—demonstrate reduced performance because existing microactuator technologies are driven by low–energy density power sources and produce small forces and/or displacements. The use of high–energy density chemical fuels to power small, soft actuators represents a possible solution. We demonstrate a 325-milligram soft combustion microactuator that can achieve displacements of 140%, operate at frequencies >100 hertz, and generate forces >9.5 newtons. With these actuators, we powered an insect-scale quadrupedal robot, which demonstrated a variety of gait patterns, directional control, and a payload capacity 22 times its body weight. These features enabled locomotion through uneven terrain and over obstacles. Description Editor’s summary A key challenge for microrobotic systems is the efficient delivery of power and the conversion of that power into mechanical forces and displacements. Aubin et al. developed a lightweight actuator that can be driven at high frequencies by the combustion of chemical fuels (see the Perspective by Truby). Key to achieving this fast performance is the passive quenching of the combustion, which eliminates the need for valves. Using this actuator, the authors fabricated an insect-scale quadruped robot that is capable of walking, turning (directional control), and jumping, a combination of locomotion capabilities that is unusual in a microrobot. —Marc S. Lavine Microactuators fueled by energy dense hydrocarbons produce large forces to power a microrobot that can crawl and jump.