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Search Results (4)

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Keywords = untethered underwater robot

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16 pages, 11514 KB  
Article
Design and Experimental Study of a Robotic Tuna with Shell-like Tensegrity Joints
by Yanwen Liu, Guangyuan Jin, Jiekai Cao, Liang Zhou and Hongzhou Jiang
J. Mar. Sci. Eng. 2024, 12(11), 2105; https://doi.org/10.3390/jmse12112105 - 20 Nov 2024
Viewed by 1306
Abstract
We developed an untethered robotic tuna featuring tensegrity joints for the purposes of simplifying the design procedure, reserving enough internal space, reducing the frictional loss of structures and generating a relatively smooth fish body wave. To achieve these objectives, a novel shell-like tensegrity [...] Read more.
We developed an untethered robotic tuna featuring tensegrity joints for the purposes of simplifying the design procedure, reserving enough internal space, reducing the frictional loss of structures and generating a relatively smooth fish body wave. To achieve these objectives, a novel shell-like tensegrity joint was introduced, paired with a single-motor multiple-joint driving mechanism. The morphology matching design method of the tensegrity joint was proposed to fit the streamlined fish body, where the deflection angles of each joint were predetermined to generate the specific body waveform. Stiffness analysis shows that the tensegrity joint could function equivalently to a traditional rotational joint, given certain geometric conditions. Based on the fabricated robotic tuna prototype, extensive free-swimming experiments were performed to optimize its swimming performance by varying key parameters, including the caudal fin‘s shape, flexibility and rotational stiffness and joint deflection angles. The results reveal that the robotic tuna achieved the highest swimming speed of 1.31 body lengths per second (BL/s) at a driving frequency of 2.4 Hz, and the maximum stride length increased to 0.81 BL/cycle at 1 Hz, demonstrating the effectiveness of the proposed design scheme. This study provides valuable insight for developing high-performance bio-inspired autonomous underwater vehicles. Full article
(This article belongs to the Section Ocean Engineering)
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21 pages, 9698 KB  
Article
Soft Electrohydraulic Bending Actuators for Untethered Underwater Robots
by Hao Lin, Yihui Chen and Wei Tang
Actuators 2024, 13(6), 214; https://doi.org/10.3390/act13060214 - 8 Jun 2024
Cited by 1 | Viewed by 2258
Abstract
Traditional underwater rigid robots have some shortcomings that limit their applications in the ocean. In contrast, because of their inherent flexibility, soft robots, which have gained popularity recently, offer greater adaptability, efficiency, and safety than rigid robots. Among them, the soft actuator is [...] Read more.
Traditional underwater rigid robots have some shortcomings that limit their applications in the ocean. In contrast, because of their inherent flexibility, soft robots, which have gained popularity recently, offer greater adaptability, efficiency, and safety than rigid robots. Among them, the soft actuator is the core component to power the soft robot. Here, we propose a class of soft electrohydraulic bending actuators suitable for underwater robots, which realize the bending motion of the actuator by squeezing the working liquid with an electric field. The actuator consists of a silicone rubber film, polydimethylsiloxane (PDMS) films, soft electrodes, silicone oils, an acrylic frame, and a soft flipper. When a square wave voltage is applied, the actuator can generate continuous flapping motions. By mimicking Haliclystus auricula, we designed an underwater robot based on six soft electrohydraulic bending actuators and constructed a mechanical model of the robot. Additionally, a high-voltage square wave circuit board was created to achieve the robot’s untethered motions and remote control using a smart phone via WiFi. The test results show that 1 Hz was the robot’s ideal driving frequency, and the maximum horizontal swimming speed of the robot was 7.3 mm/s. Full article
(This article belongs to the Special Issue Soft Robotics: Actuation, Control, and Application)
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17 pages, 8426 KB  
Article
Design, Modeling, and Control of an Aurelia-Inspired Robot Based on SMA Artificial Muscles
by Yihan Yang, Chenzhong Chu, Hu Jin, Qiqiang Hu, Min Xu and Erbao Dong
Biomimetics 2023, 8(2), 261; https://doi.org/10.3390/biomimetics8020261 - 15 Jun 2023
Cited by 12 | Viewed by 3467
Abstract
This paper presented a flexible and easily fabricated untethered underwater robot inspired by Aurelia, which is named “Au-robot”. The Au-robot is actuated by six radial fins made of shape memory alloy (SMA) artificial muscle modules, which can realize pulse jet propulsion motion. The [...] Read more.
This paper presented a flexible and easily fabricated untethered underwater robot inspired by Aurelia, which is named “Au-robot”. The Au-robot is actuated by six radial fins made of shape memory alloy (SMA) artificial muscle modules, which can realize pulse jet propulsion motion. The thrust model of the Au-robot’s underwater motion is developed and analyzed. To achieve a multimodal and smooth swimming transition for the Au-robot, a control method integrating a central pattern generator (CPG) and an adaptive regulation (AR) heating strategy is provided. The experimental results demonstrate that the Au-robot, with good bionic properties in structure and movement mode, can achieve a smooth transition from low-frequency swimming to high-frequency swimming with an average maximum instantaneous velocity of 12.61 cm/s. It shows that a robot designed and fabricated with artificial muscle can imitate biological structures and movement traits more realistically and has better motor performance. Full article
(This article belongs to the Special Issue Bio-Inspired Underwater Robot)
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30 pages, 6012 KB  
Review
Scientific Challenges and Present Capabilities in Underwater Robotic Vehicle Design and Navigation for Oceanographic Exploration Under-Ice
by Laughlin D. L. Barker, Michael V. Jakuba, Andrew D. Bowen, Christopher R. German, Ted Maksym, Larry Mayer, Antje Boetius, Pierre Dutrieux and Louis L. Whitcomb
Remote Sens. 2020, 12(16), 2588; https://doi.org/10.3390/rs12162588 - 11 Aug 2020
Cited by 66 | Viewed by 11627
Abstract
This paper reviews the scientific motivation and challenges, development, and use of underwater robotic vehicles designed for use in ice-covered waters, with special attention paid to the navigation systems employed for under-ice deployments. Scientific needs for routine access under fixed and moving ice [...] Read more.
This paper reviews the scientific motivation and challenges, development, and use of underwater robotic vehicles designed for use in ice-covered waters, with special attention paid to the navigation systems employed for under-ice deployments. Scientific needs for routine access under fixed and moving ice by underwater robotic vehicles are reviewed in the contexts of geology and geophysics, biology, sea ice and climate, ice shelves, and seafloor mapping. The challenges of under-ice vehicle design and navigation are summarized. The paper reviews all known under-ice robotic vehicles and their associated navigation systems, categorizing them by vehicle type (tethered, untethered, hybrid, and glider) and by the type of ice they were designed for (fixed glacial or sea ice and moving sea ice). Full article
(This article belongs to the Special Issue Measuring, Monitoring and Exploring the Ocean: From Coast to the Deep Sea)
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