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Educational Soft Underwater Robot with an Electromagnetic Actuation.

Robert Hennig1,2, Alex Beaudette1,2, Holly M Golecki3

  • 1John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA.

Soft Robotics
|January 8, 2024
PubMed
Summary
This summary is machine-generated.

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Educational Soft Underwater Robot with Electromagnetic Actuation (ESURMA) offers a simple, modular, and cost-effective platform for underwater robotics education. Its electromagnetic fin actuation achieves high flapping frequencies and silent operation, enhancing performance for educational exploration.

Area of Science:

  • Robotics
  • Marine Engineering
  • Biomimetics

Background:

  • Compliant robotics present significant educational potential, particularly in underwater applications.
  • Soft undulating fins are crucial for underwater exploration and replicating swarm behaviors.
  • Existing soft robotic systems often lack simplicity, modularity, and high performance for educational use.

Purpose of the Study:

  • To develop an accessible educational soft underwater robot.
  • To implement electromagnetic actuation for enhanced performance and modularity.
  • To create a humanoid soft robot for STEM education.

Main Methods:

  • Designed the Educational Soft Underwater Robot with Electromagnetic Actuation (ESURMA).
  • Integrated an electromagnet in a waterproof housing with permanent magnets in a silicone tail for magnetic actuation.
Keywords:
Fin propulsioneducationelectromagneticinjection moldingsoft roboticunderwater locomotion

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  • Utilized direct force transmission for tail bending and swimming motion.

    • Main Results:

    • Achieved simple, modular, and robust waterproofing through electromagnetic actuation.
    • Obtained experimental flapping frequencies of 14 Hz, an order of magnitude higher than pneumatic systems.
    • Reached a maximum swimming speed of 14.3 cm/s with completely silent actuation.

    Conclusions:

    • ESURMA provides an attractive, cost-effective platform for underwater soft robotics education.
    • Electromagnetic actuation offers a simple, modular, and high-performance alternative for soft structures.
    • The robot's design facilitates exploration of underwater life and swarm behavior replication.