Abstract Running speed degradation of insect-scale (less than 5 cm) legged microrobots after carrying payloads has become a bottleneck for to achieve high untethered locomotion performance. In this work, we present 2-cm microrobot (BHMbot, BeiHang Microrobot) with ultrafast running speeds, which is facilitated by the complementary combination bouncing length and frequency in microrobot’s gait. The BHMbot (2-cm-long, 1760 mg) can 17.5 BL s −1 turning centripetal acceleration 65.4 −2 at Cost...

Fleas in nature generally have potent muscles for jumping and crawling abilities to overcome obstacles complex environments, while it is challenging flea-sized robots powerful actuators due the size effect. This work presents a novel high-voltage pulsed actuator robot (3.4 mm-in-length) achieve fast locomotion. The working principle of based on electric arcing phenomenon between two electrodes under pulses. height length 3.4 mm can be up 46 87 times body lengths, respectively, speed over...

Insects and animals in nature generally have powerful muscles to guarantee their complex motion, such as crawling, running, jumping. It is challenging for insect-sized robots achieve controlled crawling jumping within the scale of millimeters milligrams. This article proposes a novelty bionic muscle actuator, where an electrical pulse applied generate joule heat expand actuator's chamber. Under restoring force spring element, chamber contracts back initial state finish complete cycle. The...

Abstract The flight endurance of micro aerial vehicles is typically limited, requiring them to return for battery replacement after short missions. Using electrostatic adhesion long-term perching at elevated sites provides an effective solution extending high-view However, achieving strong often requires high voltage, which usually involves large inverter devices, complicating integration into the vehicle. To this end, a high-voltage system has been developed, incorporating lightweight...

This paper presents a novel flexible shape memory alloy (SMA) actuator, which is mainly composed of an SMA wire and multilayer tubular structure. The structure, consists polytetrafluoroethylene tube, metallic hose rubber possesses the properties good flexibility high axial stiffness. makes actuator easy to integrate into compact or thin, narrow space with dimension constraints. stiffness helps in handling serious bending prevents buckling actuator. To verify performance proposed prototype...

Shape memory alloy (SMA) beam actuators are widely used in morphing structures, which leads to a surgent demand for comprehensive design method. Previous methods have not considered the heat treatment and evolution of actuation performance during training. In this study, an in-depth investigation was conducted into Ni50Ti50 (at%) SMA actuator from perspective treatment, training, numerical simulation developing novel methodology. The proper conditions that result relatively high were...

Micro aerial platforms face significant challenges in achieving long controlled endurance as most of the energy is consumed to overcome weight body. In this study, we present a controllable micro blimp that addresses issue through use helium-filled balloon. The has axis 23 cm and propelled by four insect-sized flapping-wing thrusters, each weighing 80 mg with wingspan 3.5 cm. These distributed thrusters enable motions provide an advantage flight compared multi-rotors or vehicles at same size...

This work presents a low voltage (5 V) control method for micro-ionic thrusters with high operating (>1 kV). When the collector of thruster is connected to negative electrode through 5V switch circuit, and DC (1-10 kV) applied emitter, we can get suitable (0-4 based on electrostatic induced potential characteristics collector. allows multiple emitters share one boost circuit without using circuits. Theoretical analysis, simulations, experiments are conducted validate our method, attitude...

Several microrobots driven by capacitive actuators have shown excellent performance because of the high power density and low working current actuators. However, these need alternating voltage (hundreds or thousands volts), which results in heavy bulky inverter circuits increases difficulty achieving untethered movements for microrobots. In this work, we report a novel lightweight mechanical electrostatic based on self-excited vibration crawling piezoelectric (working under 300 volts)...

The ability to move backward is crucial for millimeter-scale microrobots navigate dead-end tunnels that are too narrow allow turning maneuvers. In this study, we introduce a 15-mm-long legged microrobot, BHMbot-B, which capable of rapid forward and locomotion through vibration mode transition control. By properly arranging the vibratory motions magnet, cantilever, linkages, pitching movement body forelegs in phase during first-order cantilever antiphase second-order mode, induces microrobot....

Electroaerodynamic (EAD) propulsion is attractive as atmosphere due to the unique properties of silence and combustion-free emission. EAD uses two electrodes an engine generate propulsive thrust, with produced thrust being a combination various forces acting on electrode. Understanding effect those generation crucial for discovering physical origin advancing this technology practical applications. In study, using wire-to-cylinder system, each force quantified analyzed. Firstly, net...

It is a significant challenge for microrobots to achieve fast crawling speed at the millimeter scale due limitation of actuator size effects. In this letter, we have designed millimeter-scale microrobot configuration based on new electric pulse drive principle. The has high resonant frequency by utilizing Joual Heat generated from pulsed arc. This vibrational excitation causes friction between robot's legs and ground fast-crawling movement. can crawl forward smooth glass surface up 66.3 body...

Most Nitinol-alloy-based biomedical devices are usually manufactured from straight drawn microwires or microbeams. Fatigue due to cyclic bending is interpreted as the primary failure mechanism in these devices. However, fatigue performance of a Nitinol microwire rarely studied because lack test Therefore, we firstly establish device based on self-excited vibration principle. Then, further improve and experimentally verify three aspects enlarge strain amplitude: electrode distance...

This paper reports an empirical formula that predicts the electrohydrodynamic (EHD) thrust for point-to-grid configuration with small electrode gap distances. is accomplished by modifying classical a loss factor to account nonuniform electric field and drag force on collector. Experiments are conducted measure dependence of corona current EHD applied voltage various From experiment results, proposed empirically derived distance as independent variables. The well accuracy 40 μN.

Insects and animals in nature generally have various modes of locomotion to adapt complex environments, such as crawling, running, flying, jumping. Achieving multi-locomotion a centimeter-scale robot requires structures mechanisms that are normally difficult design fabricate. In this article, we propose powered by electrohydrodynamic propulsion capable rolling, hopping, taking off. The robot's mass, body length, height 203 mg, 6.5 cm, 4.1 respectively. has simple mechanical structure,...

The ionic-wind-powered Micro Air Vehicles (MAVs) can achieve a higher thrust-to-weight ratio than other MAVs. However, this kind of MAV has not yet achieved controlled flight because the unstable thrust produced by ionic wind and dynamic instability related to small size. In paper, passive attitude stabilization method using air dampers is introduced. key factors that influence performance dampers, including layout, position, area are theoretically studied. appropriate optimal position also...

Abstract Alternative propulsion systems are needed to overcome the combustion emissions and noises caused by fossil-fuel combustion-based gas turbines propeller-driven systems. The electrohydrodynamic (EHD) thrust produced corona induced ionic wind is an attractive choice because its generation needs no mechanical moving part emits noises. In this investigation, provided positive point-to-grid discharge at centimeter scale theoretically experimentally analyzed. previous one-dimensional...

Abstract The functional fatigue behavior of shape memory alloy (SMA) beam actuators is gaining importance as their utilization in engineering applications becomes more widespread. However, research on the SMA under bending conditions not extensive that wires. In this paper, an experimental study and theoretical analysis were conducted. A measuring method for deflection automatic thermal cyclic test bench was designed. series tests conducted different bias load patterns obtained. material...

With the widespread adoption of electric vehicles (EVs) as a sustainable transportation solution, there is an increasing demand for efficient charging infrastructure. To address existing infrastructure, this study ethically collected real driving data from registered EVs in Hefei, solely relying on vehicle-side data. The explored positions and quantities stations piles, with particular focus fast (FCSs). proposed solutions were partially validated using actual Moreover, we divided week into...