fig4
Figure 4. (A) Structure diagram, thermal imaging, trajectory and mechanism of actuators with irradiated region of the same area and different shapes. FN is buoyancy. G is gravity. The distance between the resultant force and the axis of the actuators is L. Schematic and motion trajectory of the actuator with adjustable rectangular irradiated region: (B) adjustable length-width ratio (η1) with the constant length and (C) adjustable length- distance ratio (λ) with the constant length.
