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Robotic soft swim bladder using liquid-vapor phase transition.

Beomchan Kang1, Yongkyu Lee, Tailin Piao

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Summary

This study introduces a novel soft swim bladder for underwater robots, enabling silent and selective buoyancy control. This innovation enhances robotic mobility and performance in sensitive aquatic environments.

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Area of Science:

  • Robotics
  • Biomimetics
  • Materials Science

Background:

  • Swim bladders are essential for underwater robot maneuverability.
  • Previous mechanical swim bladders caused disturbances and had limitations.
  • A need exists for silent, adaptable buoyancy control systems in underwater robotics.

Purpose of the Study:

  • To develop an entirely soft swim bladder for noiseless and selective buoyancy control.
  • To integrate the soft swim bladder with a shape memory alloy fishtail for enhanced robotic locomotion.
  • To evaluate the dynamic performance of the integrated soft fish robot.

Main Methods:

  • Constructed a soft swim bladder using an elastic cover, flexible heating elements, and low boiling point fluid.
  • Achieved variable buoyancy through liquid-vapor phase transition induced by Joule heating.
  • Integrated the swim bladder with a shape memory alloy fishtail to create a soft fish robot.

Main Results:

  • The soft swim bladder demonstrated four modes of motion: sinking, suspending, rising, and fast-rising.
  • The integrated fish robot exhibited ten distinct maneuvering modes.
  • The dynamic performance of the robot was successfully evaluated.

Conclusions:

  • The developed soft swim bladder offers silent and selective buoyancy control for underwater robots.
  • The soft swim bladder enhances robotic maneuverability and performance in sensitive environments.
  • This technology has significant potential for diverse underwater robotic applications.