A Novel Aerial-Aquatic Locomotion Robot with Variable Stiffness Propulsion Module

TL;DR

This paper introduces a biomimetic aerial-aquatic robot with a variable stiffness propulsion module that enables efficient transition and operation in both environments, inspired by diving beetles.

Contribution

It presents a novel design integrating a variable stiffness propulsion system into a quadrotor for versatile aerial and aquatic locomotion, using temperature-controlled low melting point alloy joints.

Findings

Achieved a maximum underwater swimming speed of 77 mm/s.

Demonstrated effective aquatic locomotion and transition capabilities.

Validated the design's potential for eco-friendly, versatile operations.

Abstract

In recent years, the development of robots capable of operating in both aerial and aquatic environments has gained significant attention. This study presents the design and fabrication of a novel aerial-aquatic locomotion robot (AALR). Inspired by the diving beetle, the AALR incorporates a biomimetic propulsion mechanism with power and recovery strokes. The variable stiffness propulsion module (VSPM) uses low melting point alloy (LMPA) and variable stiffness joints (VSJ) to achieve efficient aquatic locomotion while reduce harm to marine life. The AALR's innovative design integrates the VSPM into the arms of a traditional quadrotor, allowing for effective aerial-aquatic locomotion. The VSPM adjusts joint stiffness through temperature control, meeting locomotion requirements in both aerial and aquatic modes. A dynamic model for the VSPM was developed, with optimized dimensional parameters to increase propulsion force. Experiments focused on aquatic mode analysis and demonstrated the AALR's swimming capability, achieving a maximum swimming speed of 77 mm/s underwater. The results confirm the AALR's effective performance in water environment, highlighting its potential for versatile, eco-friendly operations.