This paper describes development and experimental verifications of a novel propulsion and rotation technique for water-floating objects. As opposed to mechanical paddling, this technique electrically controls surface tension forces acting on water-floating objects without any moving parts (so-called electrowetting-on-dielectric, EWOD). As a proof of concept, a mini water-floating boat of centimeter size is fabricated from a thin plastic foil of which outer surfaces are covered with microfabricated EWOD electrodes. Applying a voltage to the electrodes changes the symmetric configuration of surface tension on the boat, resulting in generation of propulsion and rotation in the boat. By energizing the frontal or rear EWOD electrode, linear propulsion of the boat is achieved. The maximum speed is measured to be 5 mm/s. In addition, energizing two diagonal side EWOD electrodes on the boat surface generates rotational motion at the maximum rotational speed of 20 rpm. Finally, by combining the linear propulsion and rotational actuation, a curvilinear motion with controllability is demonstrated. This novel propulsion and rotation mechanism is simple yet efficient possibly being applied to propel and maneuver water-floating mini/micro robots and boats.
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机译：本文介绍了一种新推进和浮动物体的开发和实验验证。而不是机械划桨，该技术电控制在没有任何运动部件的水浮动物体上作用的表面张力力（所谓的电润湿 - 电介质，EWOD）。作为概念证据，厘米尺寸的迷你水浮船由薄塑料箔制成，其中外表面覆盖有微制造的eWod电极。向电极施加电压改变船上表面张力的对称配置，导致在船上产生推进和旋转。通过激励前部或后埃波末端电极，实现了船的线性推进。测量最大速度为5 mm / s。另外，在船面上激励两个对角线侧EWod电极以20rpm的最大转速产生旋转运动。最后，通过组合线性推进和旋转致动，对具有可控性的曲线运动进行说明。这种新颖的推进和旋转机构简单而且有效地应用于推动和机动水浮式迷你/微机器人和船只。
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