A frog-inspired robot based on liquid-vapor phase transition

IF 7.6 2区材料科学 Q1 MATERIALS SCIENCE, MULTIDISCIPLINARY

Materials & Design Pub Date : 2025-05-03 DOI:10.1016/j.matdes.2025.113975

Endong Xiao , Weihao Zeng , Hantao Zhang , Wenkai Huang , Yetian Wang , Weicheng Kong , Pengcheng Zhang , Junfeng Zhao , Jing Zhu

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引用次数: 0

Abstract

Underwater robotics holds significant potential for marine exploration and ecological monitoring, yet conventional systems often face challenges such as noise, structural complexity, and limited adaptability. To address these limitations, this study presents a frog-inspired underwater robot driven by liquid–vapor phase transition technology, designed to emulate the agility and efficiency of biological locomotion. By leveraging the reversible volume change of low-boiling-point phase transition materials (HFO-1336mzz-Z), we developed a lightweight actuator system (≤ 7 g) capable of rapid response (≤0.5 s), high deformation (≥ 120°), and biomimetic flexibility. The robot integrates antagonistic leg mechanisms for dynamic propulsion, frog-inspired webbed feet for enhanced thrust-to-drag ratios (≈ 3), and thermochromic coatings for adaptive camouflage. Experimental results demonstrate a maximum joint angle change of 148°, an angular velocity of 0.88 rad/s, and a maximum propulsion speed of 127 mm/s. Furthermore, the robot successfully completes an ascent of 23 cm within 20 s. This compact, low-cost design overcomes traditional rigid or fluid-driven constraints, offering a novel framework for applications in underwater exploration, environmental sensing, and biomimetic research.

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基于液-气相变的青蛙机器人

水下机器人在海洋勘探和生态监测方面具有巨大的潜力，但传统系统经常面临诸如噪音、结构复杂性和适应性有限等挑战。为了解决这些限制，本研究提出了一种受青蛙启发的水下机器人，由液-气相变技术驱动，旨在模拟生物运动的敏捷性和效率。利用低沸点相变材料（hfo -1336mz - z）的可逆体积变化，我们开发了一种轻量级（≤7 g）的致动器系统，具有快速响应（≤0.5 s）、高变形（≥120°）和仿生柔韧性。该机器人集成了用于动态推进的对抗性腿机制，用于增强推阻比（≈3）的蛙式蹼足，以及用于自适应伪装的热致变色涂层。实验结果表明，最大关节角度变化为148°，角速度为0.88 rad/s，最大推进速度为127 mm/s。此外，机器人在20秒内成功完成了23厘米的上升。这种紧凑、低成本的设计克服了传统的刚性或流体驱动的限制，为水下勘探、环境传感和仿生研究提供了新的应用框架。

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来源期刊

Materials & Design Engineering-Mechanical Engineering

CiteScore

14.30

自引率

7.10%

发文量

1028

审稿时长

85 days

期刊介绍： Materials and Design is a multi-disciplinary journal that publishes original research reports, review articles, and express communications. The journal focuses on studying the structure and properties of inorganic and organic materials, advancements in synthesis, processing, characterization, and testing, the design of materials and engineering systems, and their applications in technology. It aims to bring together various aspects of materials science, engineering, physics, and chemistry. The journal explores themes ranging from materials to design and aims to reveal the connections between natural and artificial materials, as well as experiment and modeling. Manuscripts submitted to Materials and Design should contain elements of discovery and surprise, as they often contribute new insights into the architecture and function of matter.