Surface tension driven water strider robot using circular footpads

Özcan, Onur; Wang, Han; Taylor, Joshua A.; Sitti, Metin

doi:10.1109/robot.2010.5509843

Cited by 34 publications

(23 citation statements)

References 11 publications

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“…In particular, as pointed out in [19], a number of applications have been of recent interest, for some examples, see capillary-driven self-assembly Whitesides and Boncheva [23] and Whitesides and Grzybowski [24], the stabilization of emulsions by colloidal particles (Binks and Horozov [25], Tavacoli, Katgert, Kim, Cates and Clegg [26]), the locomotion of insects and spiders on water (Bush and Hu [27], Gao and Jiang [28]), and the design and optimization of biomimetic water-walking robots (Hu, Chan and Bush [29], Ozcan, Wang, Taylor and Sitti [30], Song and Sitti [31]). …”

Section: Introductionmentioning

confidence: 99%

Examples of Non-Uniqueness of the Equilibrium States for a Floating Ball

Treinen¹

2016

AMPC

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We provide a numerical algorithm for numerically approximating a centrally located floating ball. We give examples of equilibria, and we present non-unique cases for the same physical parameters when the density of the ball is either greater than the supporting liquid (heavy) or lighter than the density of the vapor above (light). We classify the non-uniqueness by analyzing a function related to the force balance. We derive the potential energy of these states, and make comparisons of the non-unique cases. In the cases of both the light and heavy floating balls, the evidence presented supports the conjecture that when there are two equilibria, the one with lower energy corresponds to the location of triple junction (between the ball, the vapor and the liquid) that is closer to the equator of the ball.

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Section: Introductionmentioning

confidence: 99%

Examples of Non-Uniqueness of the Equilibrium States for a Floating Ball

Treinen¹

2016

AMPC

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“…[1][2][3][4][5] However, challenges remain in locomoting centimeter-scale objects on water surfaces because their sizes are too small to load a power system. Normally, the locomotion of such macroscopic objects should address two issues: overcoming the drag force caused by the surface effect and achieving motion from a limited power supply.…”

Section: Introductionmentioning

confidence: 99%

Design of a UV-responsive microactuator on a smart device for light-induced ON-OFF-ON motion

2014

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Combining a stimuli-responsive material and the Marangoni effect, a microactuator containing a ultraviolet (UV)-light-responsive photoresist and surfactant is fabricated. The locomotion of a functionally cooperating device loaded with the microactuator can be initiated by irradiation with 365 nm UV light, ceased by the removal of the UV light and restarted by re-exposure to the UV light. Moreover, the device exhibits good direction control via selective irradiation of photoresponsive microactuators at designated locations. This work is the first example using the chemical Marangoni effect to produce photoresponsive ON-OFF-ON motion of a macroscopic object on water surfaces with little impact on the experimental environment and opens up new opportunities for the design of novel advanced functional materials with controlled properties.

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“…For this reason, previous studies have limited their analysis to only one leg, and few of them to date have investigated a multi-cylinder system by accounting for the cylinder center distance. 5,9,24,25 In the current article, we aim to present a quantitative study on the underlying mechanism of the vertical force acting on partly submerged spindly cylinders. First, the forces acting on the cylinders are analyzed using a simplified 2-D model, after which the profile of the curved air-water interface and the vertical force are numerically calculated using MATLAB.…”

Section: Introductionmentioning

confidence: 99%

Vertical force acting on partly submerged spindly cylinders

et al. 2014

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When an object is placed on a water surface, the air-water interface deforms and a meniscus arises due to surface tension effects, which in turn produces a lift force or drag force on the partly submerged object. This study aims to investigate the underlying mechanism of the vertical force acting on spindly cylinders in contact with a water surface. A simplified 2-D model is presented, and the profile of the curved air-water interface and the vertical force are computed using a numerical method. A parametric study is performed to determine the effects of the cylinder center distance, inclined angle, static contact angle, and radius on the vertical force. Several key conclusions are derived from the study: (1) Although the lift force increases with the cylinder center distance, cylinders with smaller center distances can penetrate deeper below the water surface before sinking, thereby obtaining a larger maximum lift force; (2) An increase in the inclined angle reduces the lift force, which can enable the lower cylinders fall more deeply before sinking; (3) While the effect of static contact angle is limited for angles greater than 90°, hydrophobicity allows cylinders to obtain a larger lift force and load capacity on water; (4) The lift force increases rapidly with cylinder radius, but an increase in radius also increases the overall size and weight of cylinders and decreases the proportion of the surface tension force. These findings may prove helpful in the design of supporting legs of biologically-inspired miniature aquatic devices, such as water strider robots.

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Surface tension driven water strider robot using circular footpads

Cited by 34 publications

References 11 publications

Examples of Non-Uniqueness of the Equilibrium States for a Floating Ball

Examples of Non-Uniqueness of the Equilibrium States for a Floating Ball

Design of a UV-responsive microactuator on a smart device for light-induced ON-OFF-ON motion

Vertical force acting on partly submerged spindly cylinders

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