Collaborative Research: Self-powered Electrochemical Actuators toward Untethered Soft Mobile Robots

合作研究：用于无束缚软移动机器人的自供电电化学执行器

• 批准号: 2329674
• 负责人: Jie Yin
• 金额: $ 34.11万
• 依托单位: North Carolina State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2023
• 资助国家: 美国
• 起止时间: 2023-09-01 至 2026-08-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2329674&HistoricalAwards=false
• 关键词: Collaborative; Research; Self; powered; Electrochemical

Autonomy is crucial for robotic applications, e.g., in search and rescue, surveillance, and monitoring and patrol, as it reduces human labor and enhance efficiency. Soft robots are desirable in these applications because of their ability to navigate through rough, constrained, or otherwise complex terrains and environments though morphing, reconfiguration, and adaptability. Onboard energy storage and actuation systems are two outstanding challenges in achieving broader autonomy for soft robots because these systems are non-conformable, inflexible, and bulky. This award supports research in meeting these challenges by integrating a novel 3D printed deformable battery-based electrochemical actuator with soft robotic structures for creating self-powered, untethered mobile soft robots. The deformable battery will serve as both a power source and an actuator for dual functionality. A successful outcome of this research will enable soft robotic applications for land, undersea, and space exploration, human-machine interactions, health monitoring, wearable technology, and defense and security. The education and outreach objective of the project is to promote diversity in undergraduate researchers through multiple inside and outside-campus activities with hands-on projects, as well as to spark the interest of K-12 students in soft robots by contributing to and leveraging institutional summer programs and camps.The objective of this research to achieve a closed-loop integration of electrochemical and mechanical functions for robotic functionality towards developing a self-powered, untethered mobile soft robotic system. Three aims will be pursued: 1) coupling of electrochemical powering and actuation in 3D printed structural batteries for self-powered bending actuators, 2) integration of self-powered electrochemical actuators with monostable structures for untethered motion in repetitive soft jumping and swimming robots, and 3) fundamental investigation of electro-chemical-mechanical bending and actuation behavior through combined experimental characterization, analytical modeling, and multiphysics simulation. To attain these aims, the research will focus on several novel aspects such as 3D printing with controllable microstructure, design of deformable and high energy density carbon fiber batteries, and enabling of robotic functions through electro-chemical-mechanical coupling.This project is supported by the cross-directorate Foundational Research in Robotics program, jointly managed and funded by the Directorates for Engineering (ENG) and Computer and Information Science and Engineering (CISE).This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

自主性对于机器人应用至关重要，例如在搜索和救援、监视、监控和巡逻中，因为它减少了人力并提高了效率。软机器人在这些应用中是理想的，因为它们能够通过变形、重新配置和适应性来穿越崎岖、受限或其他复杂的地形和环境。板载能量存储和驱动系统是软机器人实现更广泛自主性的两个突出挑战，因为这些系统不整合、不灵活且体积庞大。该奖项支持通过将新型 3D 打印可变形电池电化学执行器与软机器人结构集成来应对这些挑战的研究，以创建自供电、不受束缚的移动软机器人。可变形电池将充当电源和执行器以实现双重功能。这项研究的成功成果将使软机器人应用于陆地、海底和太空探索、人机交互、健康监测、可穿戴技术以及国防和安全。该项目的教育和推广目标是通过多种校园内外活动和实践项目来促进本科生研究人员的多样性，并通过促进和利用机构来激发 K-12 学生对软机器人的兴趣。暑期项目和训练营。本研究的目标是实现机器人功能的电化学和机械功能的闭环集成，以开发自供电、不受束缚的移动软机器人系统。我们将追求三个目标：1）用于自供电弯曲执行器的 3D 打印结构电池中电化学供电和驱动的耦合，2）自供电电化学执行器与单稳态结构的集成，用于重复性软跳跃和游泳机器人的无束缚运动，以及3) 通过组合实验表征、分析建模和多物理场仿真，对电化学机械弯曲和驱动行为进行基础研究。为了实现这些目标，该研究将重点关注几个新颖的方面，例如具有可控微观结构的3D打印、可变形和高能量密度碳纤维电池的设计以及通过电化学-机械耦合实现机器人功能。该项目由跨部门的机器人基础研究项目，由工程理事会 (ENG) 和计算机与信息科学与工程理事会 (CISE) 共同管理和资助。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准。