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Related Experiment Video

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A Controllable Nonlinear Bistable "Fishtail" Boosting Robotic Swimmer with Excellent Maneuverability and High Energy

Xu Chao1,2, Imran Hameed1,2, David Navarro-Alarcon1

  • 1Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, China.

Soft Robotics
|November 28, 2024
PubMed
Summary

Researchers developed a novel bistable fishtail propulsion system for underwater robots. This innovative design significantly enhances speed, energy efficiency, and maneuverability for robotic swimmers.

Keywords:
bioinspired robotic swimmerelastic spineparallel mechanismtunable bistability

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Area of Science:

  • Robotics
  • Biomimetics
  • Mechanical Engineering

Background:

  • Underwater robots require high maneuverability and energy efficiency for practical tasks.
  • Aquatic species' agile swimming offers inspiration for designing efficient robotic swimmers.
  • Propulsion system design and control are critical for efficient robotic swimming.

Purpose of the Study:

  • To present a novel, highly flexible, and controllable bistable nonlinear mechanism for robotic fish tails.
  • To explore the use of nonlinear dynamics for efficient and controllable underwater propulsion.
  • To demonstrate an accurately controlled bistable elastic propulsion system.

Main Methods:

  • Development of a fishtail mechanism combining an elastic spine and a parallel linkage.
  • Active control of the elastic spine's endpoint to tune tail bistability and compliance.
  • Experimental validation of the propulsion system's performance.

Main Results:

  • Achieved high speed for its size (average 0.8 m/s).
  • Demonstrated high energy efficiency (cost of transport as low as 9 J·m⁻¹·kg⁻¹).
  • Showcased enhanced maneuverability (107°/s turning speed, 0.31 body length turning radius).

Conclusions:

  • The novel bistable fishtail offers exceptional controllability and tunable bistability.
  • This propulsion system provides a feasible approach for designing efficient underwater vehicles.
  • Exploration of nonlinear dynamics is key to advancing compliant propulsion systems.