PuffyBot可变体形，水陆两栖自主移动，续航2小时。
PuffyBot: An Untethered Shape Morphing Robot for Multi-environment Locomotion
- 用剪刀式升降结构+曲柄连杆，实现形态变换与模式切换。
- 体积从255增至423.75cm³，抵消3.237N重力，支持浮沉调节。
- 全防水设计，适合野外探索、救援等多环境任务。
两栖动物能根据陆地和水域环境改变形态与运动方式。受此启发，我们提出PuffyBot——一种无需外接电源的可变形机器人，可通过改变自身体型在多种环境中移动。其核心采用由直线驱动器驱动的剪刀式升降结构，实现形态变化，体积可在255.00 cm³至423.75 cm³间调节，从而调节浮力以抵消3.237 N的重力（对应机器人质量330 g）。集成的曲柄连杆机构可使伺服控制的腿部旋转90度，实现爬行与游泳模式的无缝切换。机器人整体防水，使用热塑性聚氨酯（TPU）面料确保水下功能正常。搭载1000 mAh电池，可持续工作2小时。实验结果表明，该机器人可完成陆地爬行、水底爬行、水面游泳及双模浮力调节（下潜或上浮）。这些成果展示了形态可变技术在构建多功能、高能效机器人平台方面的潜力。
原文摘要 · Abstract (English)
Amphibians adapt their morphologies and motions to accommodate movement in both terrestrial and aquatic environments. Inspired by these biological features, we present PuffyBot, an untethered shape morphing robot capable of changing its body morphology to navigate multiple environments. Our robot design leverages a scissor-lift mechanism driven by a linear actuator as its primary structure to achieve shape morphing. The transformation enables a volume change from 255.00 cm3 to 423.75 cm3, modulating the buoyant force to counteract a downward force of 3.237 N due to 330 g mass of the robot. A bell-crank linkage is integrated with the scissor-lift mechanism, which adjusts the servo-actuated limbs by 90 degrees, allowing a seamless transition between crawling and swimming modes. The robot is fully waterproof, using thermoplastic polyurethane (TPU) fabric to ensure functionality in aquatic environments. The robot can operate untethered for two hours with an onboard battery of 1000 mA h. Our experimental results demonstrate multi-environment locomotion, including crawling on the land, crawling on the underwater floor, swimming on the water surface, and bimodal buoyancy adjustment to submerge underwater or resurface. These findings show the potential of shape morphing to create versatile and energy efficient robotic platforms suitable for diverse environments.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。