Abstract
Electrohydrodynamics (EHD) refers to the direct conversion of electrical energy into mechanical energy of a fluid. Through the use of mobile electrodes, this principle is exploited in a novel fashion for designing and testing a millimeter-scale untethered robot, which is powered harvesting the energy from an external electric field. The robot is designed as an inverted sail-boat, with the thrust generated on the sail submerged in the liquid. The diffusion constant of the robot is experimentally computed, proving that its movement is not driven by thermal fluctuations, and then its kinematic and dynamic responses are characterized for different applied voltages. The results show the feasibility of using EHD with mobile electrodes for powering untethered robots and provide new evidences for the further development of this actuation system for both mobile robots and compliant actuators in soft robotics.
| Original language | English |
|---|---|
| Journal | Advanced Science |
| DOIs | |
| Publication status | Accepted/In press - 2017 |
Fingerprint
Keywords
- Electrohydrodynamics
- Mobile robots
- Soft actuators
- Soft robotics
- Untethered
ASJC Scopus subject areas
- Engineering(all)
- Materials Science(all)
- Physics and Astronomy(all)
- Chemical Engineering(all)
- Medicine (miscellaneous)
- Biochemistry, Genetics and Molecular Biology (miscellaneous)
Cite this
Conduction Electrohydrodynamics with Mobile Electrodes : A Novel Actuation System for Untethered Robots. / Cacucciolo, Vito; Shigemune, Hiroki; Cianchetti, Matteo; Laschi, Cecilia; Maeda, Shingo.
In: Advanced Science, 2017.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Conduction Electrohydrodynamics with Mobile Electrodes
T2 - A Novel Actuation System for Untethered Robots
AU - Cacucciolo, Vito
AU - Shigemune, Hiroki
AU - Cianchetti, Matteo
AU - Laschi, Cecilia
AU - Maeda, Shingo
PY - 2017
Y1 - 2017
N2 - Electrohydrodynamics (EHD) refers to the direct conversion of electrical energy into mechanical energy of a fluid. Through the use of mobile electrodes, this principle is exploited in a novel fashion for designing and testing a millimeter-scale untethered robot, which is powered harvesting the energy from an external electric field. The robot is designed as an inverted sail-boat, with the thrust generated on the sail submerged in the liquid. The diffusion constant of the robot is experimentally computed, proving that its movement is not driven by thermal fluctuations, and then its kinematic and dynamic responses are characterized for different applied voltages. The results show the feasibility of using EHD with mobile electrodes for powering untethered robots and provide new evidences for the further development of this actuation system for both mobile robots and compliant actuators in soft robotics.
AB - Electrohydrodynamics (EHD) refers to the direct conversion of electrical energy into mechanical energy of a fluid. Through the use of mobile electrodes, this principle is exploited in a novel fashion for designing and testing a millimeter-scale untethered robot, which is powered harvesting the energy from an external electric field. The robot is designed as an inverted sail-boat, with the thrust generated on the sail submerged in the liquid. The diffusion constant of the robot is experimentally computed, proving that its movement is not driven by thermal fluctuations, and then its kinematic and dynamic responses are characterized for different applied voltages. The results show the feasibility of using EHD with mobile electrodes for powering untethered robots and provide new evidences for the further development of this actuation system for both mobile robots and compliant actuators in soft robotics.
KW - Electrohydrodynamics
KW - Mobile robots
KW - Soft actuators
KW - Soft robotics
KW - Untethered
UR - http://www.scopus.com/inward/record.url?scp=85019566777&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85019566777&partnerID=8YFLogxK
U2 - 10.1002/advs.201600495
DO - 10.1002/advs.201600495
M3 - Article
JO - Advanced Science
JF - Advanced Science
SN - 2198-3844
ER -