Abstract High-entropy alloys have attracted much attention due to their unique microstructures and excellent properties. Since invention more than ten years ago, research has been mainly focused on the study of multicomponent with equiatomic or near-equiatomic compositions. Here we propose a novel design non-equiatomic medium-entropy that contain one matrix element several alloying elements. To verify utility this new design, series Co-free Fe x (CrNiAl) 100−x (at.%, 25 ≤ 65) were designed...

Soft robots usually have soft structures and multiple degrees of freedom, they are capable large deformations safe human–machine interactions. But unlike rigid which can be easily assembled from multitudinous general components, the fabrications more difficult. This work presents a robot module that into great variety robots. bend in any direction bending angle controlled accurately; it has bar-like body made silicone, deformation is actuated by twisted coiled actuators (TCAs) uniformly...

Artificial muscles have unique advantages for driving bionic robots because their mode is similar to biological muscles. However, there still a big gap between the existing artificial muscle and in performance. The twisted (TAMs) from nylon 6,6 provides low-cost, high integration, low hysteresis method. But as soft actuator, control of TAM so complex that advantage excellent embeddedness has not been brought into play. This work presents self-sensing method by monitoring real-time resistance...

Twisted and coiled actuators (TCAs) are a type of thermal-driven actuator with high energy density display the enormous application potential to drive soft robots. However, existing robots driven by TCAs scarce can only realize grabbing creeping movement almost without load capacity. The main reason is that TCA fabricated traditional self-coiling method has low force long thermal response time. Aiming improve output TCA, fabrication enhancement principle multitwisted (MTCAs) developed....

Small soft pumps are extensively explored in medical fields and robotics, but the insufficient flow rate constrains their applications. In this article, an intersected twisted artificial muscle unit (ITAMU) is proposed to achieve a large contraction ratio, which adapted drive developed pump, characteristics of high no noise pollution achieved. The configuration principle ITAMU pump depicted. Besides, ratio calculated theoretically. Then, prototypes manufactured tested. results indicate that...

In the field of surgery, minimally invasive surgical robots (MISRs) have emerged as persistent pursuit physicians to minimize harm and perform precise surgery. The structure newly proposed MISRs tends change from rigid flexible, which poses a challenge control. this article, an MISR actuated by self-helix twisted artificial muscles (SHTAMs) with large bending angle high precision is developed. configuration operation principle are illustrated. Then, physical model SHTAM kinematics end...

Soft robots made from soft materials show great advantages over rigid in environmental adaptability and motion flexibility. However, too body makes them lose the load capacity, which limits their applications locomotion. Although crawling tensegrity with both bars flexible cables are potential to address this challenge, existing inchworm friction drive methods difficult realize of a single unit. Besides, lack appropriate actuators robot configuration also blocks development robots. This...

Soft robots made from soft materials can adapt to different harsh environments and ensure safety for operators. However, they require efficient sensing methods feedback their states. In this article, a differential method measure the angle of system using coiled conductive polymer fibers (CCPFs) is presented. CCPFs, which are economically fabricated suitable wide range measurement, be embedded inside with high compliance. By modeling resistance changing regulation deferential based on model...

Soft actuator is the key component for soft robots to realize flexible motion. But difficulty of sensing and control actuators seriously restricts their application. Twisted artificial muscles (TAMs) made from together self-coiling nylon 6,6 fiber heating wire are potential address this challenge due extremely high actuating stress self-sensing ability. However, coiled twisted (TCTAMs) have a large hysteresis because small area process deformation stroke. Besides, lack accurate physical...

Soft robots made from soft materials can safely interact with humans and environments compared the traditional rigid robots. However, inherent compliance of makes them difficult to realize jumping motion. Although many jump through design bistable structure. existing need spine be embedded in body. Therefore, it is still hard for a robot pure This paper offers method ability. The critical buckling force total elastic potential energy increased by designing body different thickness. We use...

This study on laser powder bed fusion (LPBF) in-situ alloying of Fe-25Cr-15Co (wt.%) permanent magnetic alloy addresses the anisotropy in texture, microstructure, and properties through comprehensively microstructural characterizations, including X-ray diffraction (XRD), optical microscopy (OM), electron backscatter (EBSD), transmission (TEM). The properties, mechanical specimens displayed anisotropy. [[EQUATION]] fiber texture Goss type [[EQUATION]]〈001〉 appear vertical plane as-built...

Many approaches have been influential in the robotics field because of deep learning (DL). As space robots need more reliability and stability, model-free algorithms with particular advantages over traditional methods environment. In this paper, we present an original robot current/torque prediction based on dynamic system learning. Also, add sliding mode-based fixed-time controller to improve control performance. It has analysed manipulator current information through property’s matrix...