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Data from: Bistable soft jumper capable of fast response and high take-off velocity

Cite this dataset

Tang, Daofan (2024). Data from: Bistable soft jumper capable of fast response and high take-off velocity [Dataset]. Dryad. https://doi.org/10.5061/dryad.hdr7sqvsg

Abstract

In contrast to jumping robots made from rigid materials, soft jumpers composed of compliant and elastically deformable materials exhibit superior impact resistance and mechanically robust functionality. However, recent efforts to create stimuli-responsive jumpers from soft materials are limited in their response speed, take-off velocity, and travel distance. Here, we report a magnetic-driven, ultrafast bistable soft jumper that exhibits the highest jumping capability (jumping over 108 body heights with a take-off velocity of over 2 m/s) and the fastest response time (less than 15 ms) compared to previous soft jumping robots. The snap-through transitions between bistable states form a repeatable loop that harnesses the ultrafast release of stored elastic energy. Based on the dynamic analysis, the multimodal locomotion of the bistable soft jumper can be realized: the interwell mode of jumping and the intrawell mode of hopping. These modes are controlled by adjusting the duration and strength of the magnetic field, which endows the bistable soft jumper with robust locomotion capabilities. In addition, it is capable of jumping omnidirectionally with tunable heights and distances. To demonstrate its capability in complex environment, a realistic pipeline with amphibious terrain was established. The jumper successfully finished the simulative task of cleansing polluted water through the pipeline. The design principle and actuating mechanism of the bistable soft jumper can be further extended for other flexible systems.

README: Data from: Bistable soft jumper capable of fast response and high take-off velocity

https://doi.org/10.5061/dryad.hdr7sqvsg

GENERAL INFORMATION:

1. Title of Dataset: Dataset for Bistable soft jumper capable of fast response and high take-off velocity published in Science Robotics

2. Authors:

Daofan Tang1,2,†, Chengqian Zhang1,3,†, Chengfeng Pan1,2, Hao Hu1,2, Haonan Sun1,2, Huangzhe Dai 1,2 , Jianzhong Fu1,2, Carmel Majidi4* & Peng Zhao1,2

3. Affiliations:

1 The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China

2 The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China

3 Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, 310027, Hangzhou, China

4 Soft Machines Lab, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA

†* These authors contributed equally to this work: Daofan Tang, Chengqian Zhang*

** Corresponding Author. Email: zhangcq@zju.edu.cn; cmajidi@andrew.cmu.edu; pengzhao@zju.edu.cn*

4. Geographic location of data collection: Hangzhou, China

FILE OVERVIEW:

File 1 Name: data of Fig.2B.xlsx

File 1 Description: Data of the experiment and simulation for the length-to height ratio of the bistable soft jumper.

File 2 Name: data of Fig.2D.xlsx

File 2 Description: Data of the simulated and calculated energy of structures with different structural heights H as a function of the flapping angle θ.

File 3 Name: data of Fig.2E.xlsx

File 3 Description: Data of the calculated torque of structures with different structural heights H as a function of the flapping angle θ.

File 4 Name: data of Fig.2F.xlsx

File 4 Description: Data of the measured critical magnetic torque and the simulated maximum internal torque.

File 5 Name: data of Fig.2G.xlsx

File 5 Description: Data of the calculated energy of structures with different crease thicknesses t.

File 6 Name: data of Fig.2H.xlsx

File 6 Description: Data of the calculated energy of structures with different crease widths w.

File 7 Name: data of Fig.2I.xlsx

File 7 Description: Data of the parameter map illustrating the influences of crease thickness t and structural height H on the proportion of energy barrier η, the results are calculated from the analytical model.

File 8 Name: data of Fig.3A.xlsx

File 8 Description: Data of the experimental and theoretical results of the stable state transition based on the strength and duration of the magnetic field. The state “0” means that the stable state has not been switched, while the state “1” means that the state has been switched.

File 9 Name: data of Fig.3C.xlsx

File 9 Description: Data of the actuating magnetic field and the jumping heights of the bistable soft jumper during hopping.

File 10 Name: data of Fig.3E.xlsx

File 10 Description: Data of the velocity of edge and center parts of the robot as a function of time t. The data were obtained by a high-speed camera.

File 11 Name: data of Fig.3F.xlsx

File 11 Description: Data of the jumping heights of the bistable soft jumper as a function of the magnetic field strength upon different actuating time. The durations of the actuating time are 10 ms, 15 ms and 20 ms, respectively.

File 12 Name: data of Fig.3G.xlsx

File 12 Description: Data of the jumping heights of the bistable soft jumpers with different materials of creases. The materials are 10% PDMS, 30% PDMS and 50% PDMS, respectively.

File 13 Name: data of Fig.3H.xlsx

File 13 Description: Data of the jumping heights, height ratios and take-off velocities of the bistable soft jumpers with different sizes.

File 14 Name: data of Fig.4D.xlsx

File 14 Description: Data of the jumping heights and jumping distances under different Bx (horizontal component of the magnetic field).

File 15 Name: data of Fig.5B.xlsx

File 15 Description: Data of the magnetic field, displacement and horizontal velocity of the bistable soft jumpers.

File 16 Name: data of fig.S3B.xlsx

File 16 Description: Data of the magnetic field of the Helmholtz coil as a function of height h. The distance x are 0 mm, 3 mm and 6 mm, respectively.

File 17 Name: data of fig.S3C.xlsx

File 17 Description: Data of the magnetic gradient of the Helmholtz coil as a function of height h. The distance x are 0 mm, 3 mm and 6 mm, respectively.

File 18 Name: data of fig.S3E.xlsx

File 18 Description: Data of the magnetic field of the solid coil as a function of height h. The distance x are 0 mm, 5 mm and 10 mm, respectively.

File 19 Name: data of fig.S3F.xlsx

File 19 Description: Data of the magnetic gradient of the solid coil as a function of height h. The distance x are 0 mm, 5 mm and 10 mm, respectively.

File 20 Name: data of fig.S4B.xlsx

File 20 Description: Data of the measured* Bx* component of the magnetic field as a function of distance x. The height h are 1 mm, 2 mm, 3 mm, 4 mm, 5 mm, 6 mm, 7 mm, 8 mm and 9 mm, respectively.

File 21 Name: data of fig.S4C.xlsx

File 21 Description: Data of the measured* Bz* component of the magnetic field as a function of distance x. The height h are 1 mm, 2 mm, 3 mm, 4 mm, 5 mm, 6 mm, 7 mm, 8 mm and 9 mm, respectively.

File 22 Name: data of fig.S4E.xlsx

File 22 Description: Data of the simulated and measured* Bx* component of the magnetic field as a function of distance x. The height h are 3 mm, 6 mm and 9 mm, respectively.

File 23 Name: data of fig.S4F.xlsx

File 23 Description: Data of the simulated and measured* Bz* component of the magnetic field as a function of distance x. The height h are 3 mm, 6 mm and 9 mm, respectively.

File 24 Name: data of fig.S8A.xlsx

File 24 Description: Data of the experimental and theoretical results of the stable state transition (Transition from stable state 1 to states state 2) based on the strength and duration of the magnetic field. The state “0” means that the stable state has not been switched, while the state “1” means that the state has been switched. The theoretical results include the first and second period of the dynamic model.

File 25 Name: data of fig.S8B.xlsx

File 25 Description: Data of the experimental and theoretical results of the stable state transition (Transition from stable state 2 to states state 1) based on the strength and duration of the magnetic field. The state “0” means that the stable state has not been switched, while the state “1” means that the state has been switched. The theoretical results include the first and second period of the dynamic model.

File 26 Name: data of fig.S10B.xlsx

File 26 Description: Data of the measured rotating velocities of the bistable soft jumper as a function of the magnetic field Bx.

File 27 Name: data of fig.S10C.xlsx

File 27 Description: Data of the measured jumping heights of the bistable soft jumper as a function of the magnetic field Bx.

File 28 Name: data of fig.S10D.xlsx

File 28 Description: Data of the displacements of the bistable soft jumper under different magnetic field Bx.

File 29 Name: data of fig.S11A.xlsx

File 29 Description: Data of the contact areas of the bistable soft jumper under different magnetic field Bx when crossing the water surface.

File 30 Name: data of fig.S11B.xlsx

File 30 Description: Data of the integral of contact area under different magnetic field Bx when crossing the water surface.

File 31 Name: data of fig.S13.xlsx

File 31 Description: Data of the measured jumping heights of the bistable sample and non-bistable sample as a function of the magnetic field.

File 32 Name: data of fig.S14.xlsx

File 32 Description: Data of the calculated elastic energy conversion efficiencies as a function of the magnetic field.

Funding

National Key R&D Program of China, Award: 2022YFC2401903

National Natural Science Foundation of China, Award: 52205424

Zhejiang Provincial Natural Science Foundation, Award: LY23A020001

Science and Technology Department of Zhejiang Province, Award: 2022C01069, “Pioneer” and “Leading Goose” R&D Program