Soft buckling achieves consistent large-amplitude deformation for pulse jetting underwater robots.

IF 3 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

Bioinspiration & Biomimetics Pub Date : 2025-09-04 DOI:10.1088/1748-3190/adfbb7

Alexander O'Loughlin, Samuel Simmons, Melike Kurt, Blair Thornton

引用次数: 0

Abstract

Jellyfish achieve efficient pulse jetting through large-amplitude, low-frequency deformations of a soft bell. This is made possible through large localised deformations at the bell margin. This paper develops a novel soft-robotic underwater pulse jetting method that harnesses the buckling of flexible tubes to generate thrust. Soft material instability is controlled through variation of internal water pressure in the tubes, where we demonstrate repeatable large-amplitude deformations with bell flexion angles of 29 ± 1.5^∘over a frequency range of 0.2-1.1 Hz. The actuator is used to propel a soft robotic platform through water, achieving instantaneous velocities of up to 5 cm s^-1with no noticeable degradation in performance over 1000 pressure cycles.

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软屈曲实现了脉冲射流水下机器人连续的大幅度变形。

水母通过大振幅、低频率的软钟形变形实现有效的脉冲喷射。这是通过钟形边缘的大局部变形实现的。本文提出了一种利用柔性管屈曲产生推力的水下软机器人脉冲喷射方法。软材料的不稳定性是通过管内水压的变化来控制的，我们在0.2至1.1 Hz的频率范围内演示了钟形弯曲角度为29±1.5◦的可重复的大振幅变形。该驱动器用于推动软机器人平台通过水中，实现高达5厘米/秒的瞬时速度，在1000次压力循环中性能没有明显下降。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Bioinspiration & Biomimetics 工程技术-材料科学：生物材料

CiteScore

5.90

自引率

14.70%

发文量

132

审稿时长

3 months

期刊介绍： Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.