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A Wheeled Robot Driven by a Liquid-Metal Droplet

Journal Article


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Abstract


  • The controlled actuation of gallium liquid-metal (LM) alloys has presented new and exciting opportunities for constructing mobile robots with structural flexibility. However, the locomotion of current LM-based actuators often relies on inducing a gradient of interfacial tension on the LM surface within electrolytes, which limits their application outside a liquid environment. In this work, a wheeled robot using a LM droplet as the core of the driving system is developed that enables it to move outside liquid environment. The LM droplet inside the robot is actuated using a voltage to alter the robot's center of gravity, which in turn generates a rolling torque and induces continuous locomotion at a steady speed. A series of experiments is carried out to examine the robot's performance and then to develop a dynamic model using the Lagrange method to understand the locomotion. An untethered and self-powered wheeled robot that utilizes mini-lithium-batteries is also demonstrated. This study is envisaged to have the potential to expand current research on LM-based actuators to realize future complex robotic systems.

Authors


  •   Wu, Jian (external author)
  •   Tang, Shiyang (external author)
  •   Fang, Tao (external author)
  •   Li, Weihua
  •   Li, Xiangpeng (external author)
  •   Zhang, Shiwu (external author)

Publication Date


  • 2018

Citation


  • Wu, J., Tang, S., Fang, T., Li, W., Li, X. & Zhang, S. (2018). A Wheeled Robot Driven by a Liquid-Metal Droplet. Advanced Materials, 30 (51), 1805039-1-1805039-7.

Scopus Eid


  • 2-s2.0-85054923492

Ro Full-text Url


  • https://ro.uow.edu.au/context/eispapers1/article/3196/type/native/viewcontent

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers1/2190

Start Page


  • 1805039-1

End Page


  • 1805039-7

Volume


  • 30

Issue


  • 51

Place Of Publication


  • Germany

Abstract


  • The controlled actuation of gallium liquid-metal (LM) alloys has presented new and exciting opportunities for constructing mobile robots with structural flexibility. However, the locomotion of current LM-based actuators often relies on inducing a gradient of interfacial tension on the LM surface within electrolytes, which limits their application outside a liquid environment. In this work, a wheeled robot using a LM droplet as the core of the driving system is developed that enables it to move outside liquid environment. The LM droplet inside the robot is actuated using a voltage to alter the robot's center of gravity, which in turn generates a rolling torque and induces continuous locomotion at a steady speed. A series of experiments is carried out to examine the robot's performance and then to develop a dynamic model using the Lagrange method to understand the locomotion. An untethered and self-powered wheeled robot that utilizes mini-lithium-batteries is also demonstrated. This study is envisaged to have the potential to expand current research on LM-based actuators to realize future complex robotic systems.

Authors


  •   Wu, Jian (external author)
  •   Tang, Shiyang (external author)
  •   Fang, Tao (external author)
  •   Li, Weihua
  •   Li, Xiangpeng (external author)
  •   Zhang, Shiwu (external author)

Publication Date


  • 2018

Citation


  • Wu, J., Tang, S., Fang, T., Li, W., Li, X. & Zhang, S. (2018). A Wheeled Robot Driven by a Liquid-Metal Droplet. Advanced Materials, 30 (51), 1805039-1-1805039-7.

Scopus Eid


  • 2-s2.0-85054923492

Ro Full-text Url


  • https://ro.uow.edu.au/context/eispapers1/article/3196/type/native/viewcontent

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers1/2190

Start Page


  • 1805039-1

End Page


  • 1805039-7

Volume


  • 30

Issue


  • 51

Place Of Publication


  • Germany