Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures.

Area of Science:

• Robotics
• Materials Science
• Fluid Dynamics

Background:

• Scaling up nature-inspired deformable structures for underwater robotics presents significant challenges in maintaining structural efficiency.
• Existing methods often lack the scalability and customizability required for advanced robotic applications.

Purpose of the Study:

• To present a novel method for constructing meter-scale deformable robotic structures using mechanical metamaterials.
• To demonstrate the application of these structures in enhancing underwater propulsion and hydrodynamic performance.

Main Methods:

• Assembling custom unit cells, combining rigid and compliant facets, into lattices to create meter-scale structures.
• Designing anisotropic unit cells to control global deformation and achieve desired robotic functionalities.
• Testing two models: a snake-like robot for propulsion and a morphing hydrofoil for lift enhancement.

Main Results:

• The morphing beam snake-like robot achieved thrust generation at specific anguilliform swimming parameters.
• The morphing surface hydrofoil demonstrated a lift coefficient increase of up to 0.6 compared to rigid wings.
• Significant improvements in the lift-to-drag ratio were observed across various angles of attack.

Conclusions:

• The developed method provides accessible, scalable, and easily assembled morphing structures for underwater robotics.
• This approach holds significant potential for improving the efficiency and effectiveness of future ocean exploration and exploitation.
• The controlled anisotropy through mechanical metamaterials offers a pathway to advanced bio-inspired underwater robotic designs.