Open AccessMiniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules
Author(s) -
Wang Dehong,
Liu Yingxiang,
Deng Jie,
Zhang Shijing,
Li Jing,
Wang Weiyi,
Liu Junkao,
Chen Weishan,
Quan Qiquan,
Liu Gangfeng,
Xie Hui,
Zhao Jie
Publication year - 2022
Publication title -
advanced science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 5.388
H-Index - 100
ISSN - 2198-3844
DOI - 10.1002/advs.202203054
Subject(s) - vibration , robot , structural engineering , computer science , mechanical engineering , materials science , engineering , acoustics , physics , artificial intelligence
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.