Li Haoyao, Wang Yubo, Luo Zhiling, Lin Jian, Qian Yongqiang, Zhang Wei, Chen Luzhuo
Fujian Provincial Key Laboratory of Quantum Manipulation and New Energy Materials, College of Physics and Energy, Fujian Normal University, Fuzhou, 350117, China.
Fujian Provincial Collaborative Innovation Center for Advanced High-Field Superconducting Materials and Engineering, Fuzhou, 350117, China.
Small. 2025 Feb;21(7):e2409307. doi: 10.1002/smll.202409307. Epub 2025 Jan 2.
Soft robots based on actuators that can work in both on-ground and on-water situations are environmentally adaptable and can accomplish tasks in complex environments. However, most current amphibious actuators need external stimuli to move on water and require complex preparation processes. Herein, amphibious Ink-paper/polyethylene programmable actuators and robots are proposed, which are fabricated by rapidly brushing Chinese ink on paper. The actuator can bend on the ground and move autonomously on the water. On one hand, the actuator shows a maximum bending curvature of 2.66 cm under near-infrared light, and the actuation performance can be programmed by ink concentration. Moreover, actuators with pen-brushed information can be shape-programmed for dynamic information display. On the other hand, the actuator can autonomously move on the water by using Chinese ink as Marangoni fuel. The maximum moving velocity is 4.73 cm s. When the ink is saturated in the water, the actuator can further be driven by an infrared laser. Finally, three soft robots with diverse programmable amphibious motions are designed. Both the crawling/bending motion on the ground and autonomous linear/rotary movement on the water can be programmed by altering actuator structures. This research will provide new inspirations for next-generation amphibious actuators and soft robots.
基于能够在地面和水上环境中工作的致动器的软体机器人具有环境适应性，并且能够在复杂环境中完成任务。然而，目前大多数两栖致动器在水上移动需要外部刺激，并且需要复杂的制备过程。在此，提出了两栖墨纸/聚乙烯可编程致动器和机器人，它们是通过在纸上快速刷上中国墨水制成的。该致动器可以在地面上弯曲并在水上自主移动。一方面，该致动器在近红外光下显示出最大弯曲曲率为2.66厘米，并且其驱动性能可以通过墨水浓度进行编程。此外，带有笔刷信息的致动器可以进行形状编程以用于动态信息显示。另一方面，该致动器可以使用中国墨水作为马兰戈尼燃料在水上自主移动。最大移动速度为4.73厘米/秒。当墨水中的墨水饱和时，该致动器可以进一步由红外激光驱动。最后，设计了三种具有不同可编程两栖运动的软体机器人。通过改变致动器结构，可以对地面上的爬行/弯曲运动以及水上的自主直线/旋转运动进行编程。这项研究将为下一代两栖致动器和软体机器人提供新的灵感。
