Abstract
In response to the practical needs of ocean development, underwater exploration, and marine conservation, a new type of flatworm-inspired marine exploration robot based on the bionics and robotics principles is designed. The robot adopts a double-sided symmetrical arrangement of multiple linkage swing-rod type undulating fins to achieve a sinusoidal motion and propel the robot for underwater bionic swimming. Kinematic models are respectively established for the flatworm-inspired marine exploration robot fish-body and the swing-rod type undulating fin to determine the kinematic parameters of the robot. The motion simulation analysis of the robot fish-body and swing-rod type undulating fin confirms that the robot can swim steadily and the motion models are correctly established. Underwater experiments of the prototype verify that the robot can achieve underwater movement, turning, and other functions, further demonstrating the correctness of the design scheme and theoretical analysis, and providing a new solution for the design of underwater bionic robots.
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Acknowledgments
This work was supported by Scientific Research Project of Education Department of Hubei Province under Grant No. D20222603, Science and Technology Innovation Team of Hubei University of Arts and Science under Grantr 2022pytd01, Graduate Innovation Project of Hubei University of Arts and Science under Grant YCX202301.
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Su, W., Wang, Q., Zhao, X., Liu, W., Qin, T. (2023). Design and Research of Flatworm-Inspired Marine Exploration Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14273. Springer, Singapore. https://doi.org/10.1007/978-981-99-6498-7_21
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DOI: https://doi.org/10.1007/978-981-99-6498-7_21
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