A Versatile Topology-Optimized Compliant Actuator for Soft Robotic Gripper and Walking Robot.

The remarkable interaction capabilities of soft robots within various environments have captured substantial attention from researchers. In recent years, bionics has provided a rich inspiration for the design of soft robots. Nevertheless, predicting the locomotion of soft actuators and determining material layouts solely based on intuition or experience remain a formidable challenge. Previous actuators predominantly targeted separate applications, leading to elevated costs and diminished interchangeability. The objective of this article is to extract the common requirements of diverse application domains and develop a versatile compliant actuator. A mathematical model of the compliant mechanism is proposed under the framework of topology optimization, resulting in an optimal distribution of both structure and material. Through comparison with empirical and semioptimal designs, the results show that the proposed versatile actuator has the advantages of both stiffness and flexibility. We propose an associative design strategy for soft grippers and walking robots. The soft gripper can perfectly complete adaptive grasping of objects with varying sizes, shapes, and masses. The successful in-water gripping experiment underscores the robust cross-medium operational capabilities of the soft gripper. Notably, our experimental results show that the walking robot can move quickly for 5 cycles in 8.25 s and can guarantee the control accuracy of continuous motion. Moreover, the robot swiftly switches walking directions within a mere 0.45 s. The optimization and design strategy presented in this article can furnish novel insights for shaping the next generation of soft robots.

Experimental study of transport of a dimer on a vertically oscillating plate.

It has recently been shown that a dimer, composed of two identical spheres rigidly connected by a rod, under harmonic vertical vibration can exhibit a self-ordered transport behaviour. In this case, the mass centre of the dimer will perform a circular orbit in the horizontal plane, or a straight line if confined between parallel walls. In order to validate the numerical discoveries, we experimentally investigate the temporal evolution of the dimer's motion in both two- and three-dimensional situations. A stereoscopic vision method with a pair of high-speed cameras is adopted to perform omnidirectional measurements. All the cases studied in our experiments are also simulated using an existing numerical model. The combined investigations detail the dimer's dynamics and clearly show that its transport behaviours originate from a series of combinations of different contact states. This series is critical to our understanding of the transport properties in the dimer's motion and related self-ordered phenomena in granular systems.

Pure rotation of a prism on a ramp.

In this work, we study a prism with a cross section in polygon rolling on a ramp inclined at a small angle. The prism under gravity rolls purely around each individual edge, intermittently interrupted by a sequence of face collisions between the side face of the prism and the ramp. By limiting the prism in a planar motion, we propose a mathematical model to deal with the events of the impacts. With a pair of laser-Doppler vibrometers, experiments are also conducted to measure the motions of various prisms made of different materials and with different edge number. Not only are good agreements achieved between our numerical and experimental results, but also an intriguing physical phenomenon is discovered: the purely rolling motion is nearly independent of the prism's materials, yet it is closely related to the prism's geometry. Imagine that an ideal circular section can be approximately equivalent to a polygon with a large enough edge number N, the finding presented in this paper may help discover the physical mechanism of rolling friction.

Rolling friction and energy dissipation in a spinning disc.

This paper presents the results of both experimental and theoretical investigations for the dynamics of a steel disc spinning on a horizontal rough surface. With a pair of high-speed cameras, a stereoscopic vision method is adopted to perform omnidirectional measurements for the temporal evolution of the disc's motion. The experiment data allow us to detail the dynamics of the disc, and consequently to quantify its energy. From our experimental observations, it is confirmed that rolling friction is a primary factor responsible for the dissipation of the energy. Furthermore, a mathematical model, in which the rolling friction is characterized by a resistance torque proportional to the square of precession rate, is also proposed. By employing the model, we perform qualitative analysis and numerical simulations. Both of them provide results that precisely agree with our experimental findings.

Ratchet rotation of a 3D dimer on a vibrating plate.

This work studies the dynamics of a 3D dimer bouncing upon a horizontal plate undergoing a vertical harmonic vibration. Despite complex interactions within the system due to impacts and friction, numerical simulation shows that, under certain conditions prescribed for the dynamics, the center of mass of the dimer, when projected onto a horizontal plane, will follow a circular orbit. The phenomenon is like a particle under Coulomb friction performing a ratchet motion that rotates around. Investigations further reveal that the dimer dynamics bear some typical characteristics of a nonlinear system, including sensitivity to the initial conditions and bifurcation behaviors related to the physical parameters of the dynamics. Our results indicate that the coefficient of restitution and the plate's vibration intensity play critical roles in exciting the circular orbit, while the dimer's geometry and the vibration frequency mainly influence the trajectory characteristics. These findings may help understand transport mechanisms underlying systems of granular matter with anisotropic particles.