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A miniature wireless robotic swimmer actuated by a vector acoustic system
Xin Wang1, Le Wang2, Hanlin Wang1
1Institute of Cyber Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China; Huzhou Institute of Zhejiang University, Huzhou, Huzhou 313099, China.
Ultrasonics
|November 1, 2025
Summary
This study introduces a novel miniature underwater robot propelled by a vector acoustic system. This innovative design offers enhanced maneuverability for navigating confined aquatic spaces.
Area of Science:
- Robotics
- Acoustic Engineering
- Fluid Dynamics
Background:
- Untethered underwater robots are crucial for tasks like environmental monitoring and sample collection.
- Traditional propeller systems in underwater robots have limited maneuverability and pose safety risks in confined areas.
Purpose of the Study:
- To develop a miniature robotic swimmer with superior maneuverability for confined aquatic environments.
- To overcome the limitations of conventional propulsion systems in underwater robotics.
Main Methods:
- A miniature robotic swimmer (8.5 cm diameter, 10 cm height) actuated by a vector acoustic system.
- Utilized a piezoelectric transducer to generate ultrasonic waves for directional fluid jet propulsion via acoustic radiation force.
- Incorporated a miniature electromagnetic motor to adjust actuator alignment for omnidirectional propulsion control.
- Integrated a wireless control module for remote operation and superior maneuverability.
Main Results:
- The robotic swimmer achieved a maximum linear velocity of 79.2 mm/s.
- Successfully navigated a narrow gap equivalent to 1.5 times its body length.
- Demonstrated excellent maneuverability and obstacle avoidance capabilities under wireless control.
Conclusions:
- The vector acoustic propulsion system offers a viable solution for enhancing underwater robot maneuverability in confined spaces.
- The developed miniature robotic swimmer shows significant potential for applications requiring precise navigation and control in challenging aquatic environments.
