用形状记忆合金驱动的脉冲喷射推进器，让软体水下机器人高效游动
Bistable SMA-driven engine for pulse-jet locomotion in soft aquatic robots
- 采用双稳态形状记忆合金弹簧，通过储能释能实现持续推进
- 实测最高速度达158毫米/秒，最大推力5.59牛
- 适合水下监测机器人集群应用，推进效率高
本文提出一种仿生软体水下机器人DilBot，采用双稳态形状记忆合金驱动引擎实现脉冲喷射推进。受箱形水母高效游动机制启发，DilBot利用包裹在硅胶绝缘层中的拮抗式形状记忆合金弹簧，实现高功率推进。创新的双稳态机制可控制地存储与释放能量，完成连续游泳循环。自由游动实验与力特性测试表明，其峰值速度达158毫米/秒，最大推力为5.59牛。该工作展示了提升形状记忆合金执行器在水下环境效率的新路径，为未来基于机器人集群的水下环境监测提供了可行方案。
原文摘要 · Abstract (English)
This paper presents the design and experimental validation of a bio-inspired soft aquatic robot, the DilBot, which uses a bistable shape memory alloy-driven engine for pulse-jet locomotion. Drawing inspiration from the efficient swimming mechanisms of box jellyfish, the DilBot incorporates antagonistic shape memory alloy springs encapsulated in silicone insulation to achieve high-power propulsion. The innovative bistable mechanism allows continuous swimming cycles by storing and releasing energy in a controlled manner. Through free-swimming experiments and force characterization tests, we evaluated the DilBot's performance, achieving a peak speed of 158 mm/s and generating a maximum thrust of 5.59 N. This work demonstrates a novel approach to enhancing the efficiency of shape memory alloy actuators in aquatic environments. It presents a promising pathway for future applications in underwater environmental monitoring using robotic swarms.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。