仿细菌鞭毛运动的低成本软体水下机器人，可安全探索海洋生态。
BactoBot: A Low-Cost, Bacteria-Inspired Soft Underwater Robot for Marine Exploration
- 模仿细菌鞭毛设计12条硅胶柔性臂，实现温和推进。
- 仅用355美元成本完成制作，可在水中稳定前行与转向。
- 适合资源有限的科研团队或教育场景使用。
传统刚性水下航行器因高速螺旋桨和硬质船体可能对脆弱海洋生态系统造成破坏。本文提出BactoBot，一种低成本、软体水下机器人，旨在实现安全、温和的海洋探测。该设计受细菌高效鞭毛推进机制启发，采用12根硅胶基柔性臂，布置于十二面体框架上。与高成本研究平台不同，该原型通过可及的DIY方法制造，包括食品级硅胶浇筑、FDM 3D打印及市售直流电机。开发了一种新型多阶段防水方案，利用填充润滑脂的腔室系统密封旋转轴，确保低代价下的可靠性。在可控水环境测试中，机器人成功实现稳定的前向推进与转向操作。总制造成本约355美元，验证了在资源受限环境中普及软体机器人用于海洋科学的可行性。
原文摘要 · Abstract (English)
Traditional rigid underwater vehicles pose risks to delicate marine ecosystems due to high-speed propellers and rigid hulls. This paper presents BactoBot, a low-cost, soft underwater robot designed for safe and gentle marine exploration. Inspired by the efficient flagellar propulsion of bacteria, BactoBot features 12 flexible, silicone-based arms arranged on a dodecahedral frame. Unlike high-cost research platforms, this prototype was fabricated using accessible DIY methods, including food-grade silicone molding, FDM 3D printing, and off-the-shelf DC motors. A novel multi-stage waterproofing protocol was developed to seal rotating shafts using a grease-filled chamber system, ensuring reliability at low cost. The robot was successfully tested in a controlled aquatic environment, demonstrating stable forward propulsion and turning maneuvers. With a total fabrication cost of approximately $355 USD, this project validates the feasibility of democratizing soft robotics for marine science in resource-constrained settings.
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