Underwater reconfigurable robot based on modular piezoelectric jet unit

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical Pub Date : 2025-03-29 DOI:10.1016/j.sna.2025.116526

Lu Zhang , Mengfei Lv , Haoyang Fan , Xiaoxue Zhao , Tianyu Yang , Kai Li

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引用次数: 0

Abstract

Underwater organisms have important research value in the fields of biology and medicine, but the existing underwater vehicles are not competent for the task of capturing underwater organisms. Therefore, we design a reconfigurable Transformers robot, which uses bait with anesthetics to trap underwater organisms. Robot has the hunting form of trapping organisms and the submerged form of transporting organisms. Transformers robot is designed by six modular piezoelectric jet driving units (MPJDU) connected by hinges, and the required form can be realized through cooperative driving of multi-module. The design of the MPJDU is inspired by the jet propulsion of marine organisms, which has the advantages of miniature structure and high-pressure resistance. In order to realize efficient propulsion of the MPJDU, its vibration characteristics and propulsion principle are studied by simulation methods. Relevant experiments are carried out to test its motion performance and verify the correctness of the simulation results. The experimental results show that the linear speed of the MPJDU reaches 9.14 cm/s, and it can move flexibly under 20 MPa high pressure environment. The robot in submerged form completed a variety of movements, which proves that Transformers robot is an excellent performer of underwater organisms capture missions.

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来源期刊

Sensors and Actuators A-physical 工程技术-工程：电子与电气

CiteScore

8.10

自引率

6.50%

发文量

630

审稿时长

49 days

期刊介绍： Sensors and Actuators A: Physical brings together multidisciplinary interests in one journal entirely devoted to disseminating information on all aspects of research and development of solid-state devices for transducing physical signals. Sensors and Actuators A: Physical regularly publishes original papers, letters to the Editors and from time to time invited review articles within the following device areas: • Fundamentals and Physics, such as: classification of effects, physical effects, measurement theory, modelling of sensors, measurement standards, measurement errors, units and constants, time and frequency measurement. Modeling papers should bring new modeling techniques to the field and be supported by experimental results. • Materials and their Processing, such as: piezoelectric materials, polymers, metal oxides, III-V and II-VI semiconductors, thick and thin films, optical glass fibres, amorphous, polycrystalline and monocrystalline silicon. • Optoelectronic sensors, such as: photovoltaic diodes, photoconductors, photodiodes, phototransistors, positron-sensitive photodetectors, optoisolators, photodiode arrays, charge-coupled devices, light-emitting diodes, injection lasers and liquid-crystal displays. • Mechanical sensors, such as: metallic, thin-film and semiconductor strain gauges, diffused silicon pressure sensors, silicon accelerometers, solid-state displacement transducers, piezo junction devices, piezoelectric field-effect transducers (PiFETs), tunnel-diode strain sensors, surface acoustic wave devices, silicon micromechanical switches, solid-state flow meters and electronic flow controllers. Etc...