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Miniature Modular Reconfigurable Underwater Robot Based on Synthetic Jet.

Dehong Wang1, Fanheng Zhang1, Shijing Zhang1

  • 1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China.

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Summary
This summary is machine-generated.

This study introduces a novel modular reconfigurable robot system for underwater exploration. Utilizing synthetic jet propulsion, the robot achieves agile 3D motion and adaptable configurations for diverse aquatic tasks.

Keywords:
integrated systemmodular reconfigurable robotsynthetic jetunderwater robot

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Area of Science:

  • Robotics
  • Fluid Dynamics
  • Mechanical Engineering

Background:

  • Modular reconfigurable robots offer adaptability and robustness for exploration in unstructured environments.
  • Miniature aquatic robots face challenges in locomotion and integration due to design limitations.

Purpose of the Study:

  • To propose a modular strategy using synthetic jet propulsion for aquatic robots.
  • To develop a compact, wirelessly controlled modular reconfigurable robot system for underwater applications.

Main Methods:

  • Designed specialized bottom and side jet actuators using vibration motors.
  • Developed a motion module integrating actuators, power, communication, and control systems.
  • Configured multi-module robot systems and conducted experiments for transportation and image capture.

Main Results:

  • Achieved agile 3D motion with linear, rotational, and ascending speeds of 70.7 mm/s, 3.3 rad/s, and 28.7 mm/s, respectively.
  • Integrated essential systems into a compact module (48mm x 38mm x 38mm) for wireless control.
  • Demonstrated functional configurations for transportation and image-capturing tasks.

Conclusions:

  • Synthetic jet propulsion is effective for aquatic modular reconfigurable robot systems.
  • The developed system shows significant potential for future underwater exploration and applications.