仿生软双稳态机器人用单电机实现高效水下推进
A Bioinspired Underwater Robot with a Latch-Mediated Soft Bistable Mechanism
- 用锁扣机制实现能量储存与释放分离，单电机驱动
- 最大推力0.528N，冲量0.147Ns，垂直位移30mm
- 适合微型水下探测、环境监测等场景
水下机器人技术近年发展迅速，但微型化仍受限于传统能源密度低。自然界中螳螂虾和跳蚤采用锁扣介导的弹簧驱动（LaMSA）系统，通过解耦储能与释能实现快速运动。尽管对LaMSA研究深入，但在简单紧凑结构中复现快速非对称驱动仍具挑战。本文提出一种集成锁扣机制的仿生软双稳态执行器，仅用单电机即可实现非对称能量输入与释放。结合鳍片结构，该设计实现高效水下推进与灵活操控。实验表明，机器人可稳定周期性拍动，精准转向，最大推力达0.528 N，冲量0.147 Ns，垂直位移30 mm。通过调节鳍片角度，可实现垂直上浮、斜向前行及横向移动。本研究为微型水下机器人提供了一种新型节能运动控制方法，推动先进仿生设计在探测、环境监测和巡检中的应用。
原文摘要 · Abstract (English)
Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling solutions-organisms like mantis shrimps and fleas utilize latch-mediated spring actuation (LaMSA) systems that achieve rapid movements through a decoupled energy storage and release mechanism. Despite extensive studies of LaMSA, replicating such rapid, asymmetric actuation within simple, compact structures remains challenging. In this work, we introduce a bioinspired, soft bistable actuator with an integrated latch mechanism that enables asymmetric energy input and release using a single motor. Coupled with fin structures, this design facilitates efficient underwater propulsion and maneuverability. Experimental results demonstrate stable periodic flapping, precise steering, and a maximum thrust of 0.528 N, impulse of 0.147 Ns, and vertical displacement of 30 mm. By modulating fin angles, the robot achieves versatile motions, including vertical ascent, diagonal forward movement, and lateral translation. This study presents a novel, energy-efficient approach for controlling motion in compact underwater robots, paving the way for advanced biomimetic designs with potential applications in exploration, environmental monitoring, and inspection.
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