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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.
Advanced Science (Weinheim, Baden-Wurttemberg, Germany)
|August 13, 2024
Summary
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.
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.
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