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Why?
Advancing Underwater Robotics: The project aims to contribute to the field of underwater robotics by developing a soft, biomimetic omnidirectional robot. This innovation could lead to advancements in underwater exploration, environmental monitoring, and marine research.
Utilizing Shape Memory Alloys (SMAs): SMAs offer unique advantages for underwater applications due to their quick response in water, compactness, and lightweight properties. By harnessing these characteristics, the project seeks to create a more efficient, agile, and highly maneuverable underwater robot.
Environmental Compliance: The use of soft actuation and biomimetic design principles aims to minimize the robot's impact on the underwater environment. This approach can improve maneuverability in delicate ecosystems, reducing the risk of damage and disturbance.
Enhancing Maneuverability: Omnidirectional movement is crucial for navigating complex underwater environments. By combining soft actuation with omnidirectional design, the project aims to improve the robot's maneuverability, stability, and versatility, which is a novelty that still remains unseen in the current research endeavors.
Main robot preliminary
design
Main robot preliminary
design
Waterproof enclosure
4 fins: cuttlefish and knifefish - inspired
Undulating fins motion
Being able to generate a stable and accurate omnidirectional movement in 6 degrees of freedom
Cuttlefish-inspired
undulating fins design
We derived the fin actuation from the cuttlefish's transverse muscle fiber (T)
Knifefish-inspired 2-axis locomotion using single fin
motion generation
motion generation
Utilizing 4 fins with 2 axis of thrust generation to create combinations of movement with 6 degrees of freedom
Forward/backward: All 4 fins forward/backward
Sideways: 2 fins thrust outward
Yaw/pitch: 4 fins forward/backward in pairs
Roll: diagonal fins thrust outward
Shape memory Alloy (SMA) Shape setting process
SMA Actuation unit fabrication process
Cable-driven actuation test rig
Cable-driven actuation test rig - prototype
CAD models of the actuator mold and fabricated actuator prototype
Actuation unit fabrication: Silicone mixing and pouring
Finished actuation unit with waterproofing silicone poured
CAD Assembly of the test rig with the proof-of-concept robot with a single fin
The manufactured robot prototype without fins (left) and with fins (right)
The manufactured robot prototype's compliance (left) and the validation setup rig (right)
Sinusoidal
(forward-backward thrust)
Half-Sinusoidal
(forward-backward thrust)
inward-propagation
(outward thrust)
The experimental validation of the manufactured robot prototype's motion generation
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