SoJel –A 3D printed jellyfish-like robot using soft materials for underwater applications
SoJel –A 3D printed jellyfish-like robot using soft materials for underwater applications
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DOI：
10.1016/j.oceaneng.2023.114427
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发表时间：
2023-07
影响因子：
5
通讯作者：
Pawandeep Singh Matharu;Zhong Wang;J. Costello;S. Colin;R. Baughman;Yonas T. Tadesse
中科院分区：
文献类型：
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作者：
Pawandeep Singh Matharu;Zhong Wang;J. Costello;S. Colin;R. Baughman;Yonas T. Tadesse
大规模制造的、受生物启发的软机器人需要安全的机器人与动物的互动。关键的挑战是设计和制造满足海洋环境严格要求的高性能机器人。这项工作描述了一个92%的3D打印鲤鱼启发的软机器人SoJel，它使用软聚合物作为钟和传感器。我们展示了几何形状的微小变化如何影响机器人的游泳性能，这表明需要先进或定制的3D打印机，以避免通过使用传统的成型和铸造技术实现受控几何形状的困难。该设计再现了自然水母的重要运动学模式，如钟弯曲角度，致动占空比和钟运动学。这项工作是建立在前几代受鲶鱼启发的机器人的基础上的，这些机器人采用了各种类型的致动器，但主要是基于聚合物的，因此它避免了在海洋中容易受到腐蚀的金属部件。由盘绕的镍-钛致动器提供动力的机器人的实现的运输成本和垂直游泳高度与先前的设计相当，然而，本机器人在易于设计和制造方面具有优势。利用这种设计原理可以制造出各种柔性机器人和柔性结构。灵活的3D打印软传感器使我们能够确定用于运动估计和控制的弯曲角度。从水振荡或自由振动的能量收集是使用一个twistron收割机和压电复合材料集成到机器人，可用于供电的电子设备，如LED显示和通信。
Mass manufactured, biologically inspired soft robots are needed for safe robot-animal interactions. The key challenges are the design and manufacture of high-performance robots that meet stringent requirements in ocean environments. This work describes a 92% 3D-printed jellyfish-inspired soft robot, SoJel, which uses soft polymers for the bell and sensors. We show how slight variations in geometry affects the swimming performance of the robot, which demonstrates the need for advanced or custom-made 3D printers that avoid the difficulties in realizing controlled geometries by using traditional molding and casting techniques. The design reproduces important kinematic patterns of natural jellyfish, like the bell bending angle, actuation duty cycle, and bell kinematics. This work builds on previous generations of jellyfish-inspired robots that employed various types of actuators, but is largely polymer based, so it avoids metallic components that are susceptible to corrosion in the ocean. The realized cost of transport and vertical swimming height of robots powered by coiled nickel-titanium actuators are comparable to previous designs, however, the present robots have advantages in ease of design and manufacturing. A variety of soft robots and flexible structures can potentially be fabricated using this design principle. Flexible 3D-printed soft sensors enable us to determine the bending angles for motion estimation and control. Energy harvesting from water oscillation or free vibration is demonstrated using a twistron harvester and a piezoelectric composite integrated into the robot, which can be used for powering electronics, such as a LED for display and communication.