Abstract：Self-sustained motion, as a potent tool for solving complex problems and addressing various challenges, has made notable strides across a variety of disciplines, such as bionics, soft robotics, and engineering, owing to its efficiency, resourcefulness, and flexibility. However, single-mode self-sustained motion is typically applicable only to specific types of tasks in varied environments, lacking adaptability to environmental changes. To address these limitations, this study aims to develop a multi-modal self-sustained system using circular silicone oil paper. The study finds that hot steam drives silicone oil paper to achieve self-sustained motion, thereby constructing a self-sustained system. In this system, a circular silicone oil paper is placed on a surface with steam. Driven by the hot steam, the paper can continuously perform self-sustained oscillation and tumbling on the steam-supported surface. The underlying mechanisms of these two modes are analyzed. A geometric model of the self-sustained motion of a circular silicone oil paper is established. Programming calculations are used to study the relationship between the oscillation frequency and amplitude of the circular silicone oil paper and the temperature of the hot steam as well as structural dimensions. The critical conditions for the transition of motion patterns and phase diagrams are presented, and experimental studies are conducted to verify the validity of the theoretical predictions. The research findings reveal that by adjusting the structural size and steam temperature, the circular silicone oil paper can freely transition between three modes: stationary, self-sustained oscillation, and self-sustained tumbling. The frequency and amplitude of the self-sustained oscillation increase with higher steam temperatures, larger outer diameters, and an increased ratio of inner to outer diameters. The multi-modal self-sustained system developed in this study can better adapt to diverse tasks and environments while reducing costs and energy consumption. Therefore, it holds significant potential for applications in fields such as autonomous robotics, medical devices, waste heat recovery, and thermo-mechanical conversion.
2025, Vol. 46 
