A Novel Propulsion Method of Flexible Underwater Robots

TL;DR

This paper introduces a new propulsion technique for flexible underwater robots utilizing planar structural vibrations, enabling multi-directional movement with a single structure and two actuators, supported by experimental and simulation results.

Contribution

It proposes a novel vibration-based propulsion method for flexible underwater robots, demonstrating multi-directional movement with simplified structure and low-frequency eigenmode driving.

Findings

Successful multi-directional movement achieved

Movement concentrated in low-frequency eigenmodes

Validated simulation model correlates vibration patterns with movement

Abstract

This paper presents aims at mobility improvement of flexible underwater robots. For this purpose, a novel propulsion method using planar structural vibration pattern is proposed, and tested on two kinds of prototypes. The result of experiments showed the possibility of the movements for multiple directions: forward, backward, turn, rotation, drift, and their combination. These movements are achieved by only one structure with two actuators. The results also indicated the possibility of driving using eigenmodes since movements were concentrated on low driving frequency area. To investigate the relation between movement and structural vibration pattern, we established a simulation model.