Pleobot: a modular robotic solution for metachronal swimming

Area of Science:

• Robotics
• Biomimetics
• Fluid Dynamics

Background:

• Metachronal propulsion is crucial for aquatic organisms' performance and maneuverability.
• Studying live organisms alone limits understanding of propulsion mechanisms.
• A comprehensive platform is needed to investigate metachronal propulsion.

Purpose of the Study:

• To design, manufacture, and validate the Pleobot, a novel robotic swimming appendage.
• To comprehensively study metachronal propulsion using a bio-inspired robotic platform.
• To link fluid flow around the appendage with thrust generation.

Main Methods:

• Developed a multi-link 3D printed mechanism with active and passive joint actuation.
• Integrated force and fluid flow measurements with biological data.
• Utilized the Pleobot's repeatability and modularity for hypothesis testing.

Main Results:

• Demonstrated the relationship between appendage flow and thrust generation.
• Provided the first evidence of leading-edge suction contributing to lift during the power stroke.
• Established a platform for independent manipulation of kinematic and morphological traits.

Conclusions:

• The Pleobot is the first platform for comprehensive metachronal propulsion studies.
• Leading-edge suction is a significant factor in aquatic locomotion.
• The Pleobot facilitates interdisciplinary research in biology, engineering, and ecology.