A design solution for a self-guarding robot based on tube worm behavior

Tubeworms establish benthic habitats in the abyssal zones through the aggregation of extensive clusters of chitinous tubes, embodying sessile, tubicolous organisms that engage in filter feeding. The anterior extremity of these organisms is morphologically adapted into tentacle which are capable of retracting into the organisms body at a remarkable velocity when receiving external stimulation. This high speed relies on fan worms lubricant and strong vertical muscles. This adaptive behavior of tubeworms has served as an inspiration for the Long-term underwater detector robot. Despite the prevailing focus of extant research on the intrinsic characteristics of underwater sensors, such as precision and interactivity, there remains oversight regarding the preservation of high-value and inherently delicate sensors within subaquatic robotic carriers. In response to this lacuna, the paper proposes a novel device of an autonomous robotic entity designed to reflexively retract its sensory apparatus in reaction to environmental stimulation. The solutions presented are designed for long-term underwater robots which are subject to frequent external disturbances. The shell has been designed by means of a multilayer sheath structure of a fan worm and a retraction mechanism has been designed. Solidwork is used to model the robot and apdl is employed to simulate the strength stiffness of key structures. As a result of the modelling and simulation analyses, the possibility and practicality of this self-guarding robot have been determined. It is posited that the robotic apparatus harbors a potential for application in domains such as subaqueous surveillance, bathymetric resource exploration, and aquatic quality assessment. Prospective avenues for further scholarly inquiry encompass an augmentation of the investigation into the locomotive capabilities of the robot, alongside enhancements to its autogenic safeguarding mechanisms. These advancements may help to amplify the reliability of the device within severe and abyssopelagic conditions.