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A Cephalopod-Inspired Soft-Robotic Siphon for Thrust Vectoring and Flow Rate Regulation
Runzhi Zhang1, Zhong Shen1, Hua Zhong1,2
1Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, Hong Kong SAR.
Soft Robotics
|August 8, 2020
Summary
Inspired by cephalopods, this study introduces a biomimetic soft-robotic siphon (BSRS) for underwater robots. This novel propulsor offers combined thrust vectoring and flow regulation for agile maneuvers and precise positioning.
Area of Science:
- Robotics
- Biomimetics
- Fluid Dynamics
Background:
- Cephalopods achieve precise movement through coordinated mantle and funnel actions.
- Current underwater robots often rely on multiple thrusters for maneuverability.
- There is a need for compact, integrated propulsion systems.
Purpose of the Study:
- To develop a biomimetic soft-robotic siphon (BSRS) for underwater propulsion.
- To integrate thrust vectoring and flow regulation into a single compact unit.
- To mimic cephalopod locomotion for enhanced robotic capabilities.
Main Methods:
- Design, modeling, and fabrication of the BSRS, featuring a central flow-regulative duct (CFRD) and siphon actuation muscles (SAMs).
- Hydraulic pressurization of SAMs for thrust vectoring and flow regulation.
- Experimental validation of prototype BSRS performance.
Main Results:
- The BSRS demonstrated a deflection range exceeding 180 degrees.
- Flow regulation capability up to 100% was achieved.
- A 'burst effect' increased flow rate by up to 50% for enhanced thrust.
Conclusions:
- The BSRS successfully combines omnidirectional deflection with flow regulation in a soft-robotic mechanism.
- This technology offers a compact alternative to traditional multi-thruster systems.
- The BSRS paves the way for advanced water-jetting propulsion in underwater robots.
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