Conduction Electrohydrodynamics with Mobile Electrodes: A Novel Actuation System for Untethered Robots

Vito Cacucciolo, Hiroki Shigemune, Matteo Cianchetti, Cecilia Laschi, Shingo Maeda

    Research output: Contribution to journalArticle

    3 Citations (Scopus)

    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 languageEnglish
    Article number1600495
    JournalAdvanced Science
    Volume4
    Issue number9
    DOIs
    Publication statusPublished - 2017 Sep 1

    Fingerprint

    Electrohydrodynamics
    electrohydrodynamics
    robots
    actuation
    Electrodes
    Robots
    conduction
    electrodes
    Ships
    Robotics
    Biomechanical Phenomena
    Hot Temperature
    Boats
    Mobile robots
    Dynamic response
    boats
    electric power
    Kinematics
    robotics
    dynamic response

    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, Vol. 4, No. 9, 1600495, 01.09.2017.

    Research output: Contribution to journalArticle

    Cacucciolo, Vito ; Shigemune, Hiroki ; Cianchetti, Matteo ; Laschi, Cecilia ; Maeda, Shingo. / Conduction Electrohydrodynamics with Mobile Electrodes : A Novel Actuation System for Untethered Robots. In: Advanced Science. 2017 ; Vol. 4, No. 9.
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