aMussels: Diving and Anchoring in a New Bio-inspired Under-Actuated Robot Class for Long-Term Environmental Exploration and Monitoring
aMussels: Diving and Anchoring in a New Bio-inspired Under-Actuated Robot Class for Long-Term Environmental Exploration and Monitoring
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DOI：
10.1007/978-3-319-64107-2_24
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发表时间：
2017-07
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影响因子：
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通讯作者：
Elisa Donati;Godfried Jansen van Vuuren;Katsuaki Tanaka;Donato Romano;T. Schmickl;C. Stefanini
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文献类型：
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作者：
Elisa Donati;Godfried Jansen van Vuuren;Katsuaki Tanaka;Donato Romano;T. Schmickl;C. Stefanini
在过去的十年中，对水下航行器的兴趣日益增长，使得水下机器人任务取得了重大进展。尽管如此，由于其极端和不可预测的条件，水下栖息地仍然是地球上最具挑战性的环境之一。用于环境监测的水下平台的开发在移动性方面提出了若干挑战。为了监测水下栖息地的巨大延伸，水下机器人需要垂直导航。在本文中，几种解决方案的潜水系统在一种新型的水下机器人称为一个贻贝（人工贻贝）进行了研究。这些系统是：基于泵的液压、锚定、活塞式和基于滚动式液压缸，并对它们进行比较，以找到aMussel的要求之间的最佳折衷：低功率工作状态、高压（2.5巴）下的阻力和几何约束。最能满足所有要求的解决方案是基于滚动式MEMS的系统，确保高性能和高可靠性，维护和环境影响低，功耗可接受，这表明这是建造这种欠驱动和长期运行的水下机器人的最佳方式。
In the last decade, the growing interest in underwater vehicles allowed significant progress in underwater robotic missions. Despite of this, underwater habitats remain one of the most challenging environments on earth due to their extreme and unpredictable conditions. The development of underwater platforms for environmental monitoring raises several challenges in terms of mobility. To monitor the huge extension of underwater habitats, vertical navigation, is needed in underwater robots. In this paper, several solutions for diving systems in a novel type of underwater robot called aMussel (artificial mussel) are investigated. These systems are: pump-based hydraulic, anchoring, a piston-type and a rolling diaphragm-based and they were compared in order to find the best trade-off between the aMussel’s requirements: low-power work regime, resistance at high pressure (2.5 bar) and geometrical constraints. The solution that best meets all the requirements is the rolling diaphragm-based system, ensuring high performance and high reliability, with low maintenance and environmental impact and an acceptable low power consumption, suggesting this to be the best way to build such under-actuated and long-term running underwater robots.