Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00367511" target="_blank" >RIV/68407700:21230/23:00367511 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1089/soro.2022.0117" target="_blank" >https://doi.org/10.1089/soro.2022.0117</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1089/soro.2022.0117" target="_blank" >10.1089/soro.2022.0117</a>
Alternative languages
Result language
angličtina
Original language name
Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures
Original language description
In this study, we present a method to construct meter-scale deformable structures for underwater robotic applications by discretely assembling mechanical metamaterials. We address the challenge of scaling up nature-like deformable structures while remaining structurally efficient by combining rigid and compliant facets to form custom unit cells that assemble into lattices. The unit cells generate controlled local anisotropies that architect the global deformation of the robotic structure. The resulting flexibility allows better unsteady flow control that enables highly efficient propulsion and optimized force profile manipulations. We demonstrate the utility of this approach in two models. The first is a morphing beam snake-like robot that can generate thrust at specific anguilliform swimming parameters. The second is a morphing surface hydrofoil that, when compared with a rigid wing at the same angles of attack (AoAs), can increase the lift coefficient up to 0.6. In addition, in lower AoAs, the ratio improves by 5 times, whereas in higher angles it improves by 1.25 times. The resulting hydrodynamic performance demonstrates the potential to achieve accessible, scalable, and simple to design and assemble morphing structures for more efficient and effective future ocean exploration and exploitation.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Soft Robotics
ISSN
2169-5172
e-ISSN
2169-5180
Volume of the periodical
10
Issue of the periodical within the volume
4
Country of publishing house
US - UNITED STATES
Number of pages
13
Pages from-to
724-736
UT code for WoS article
000925127900001
EID of the result in the Scopus database
2-s2.0-85166567164