Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Soft Robotics

ISSN

2169-5172

e-ISSN

2169-5180

Svazek periodika

10

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

13

Strana od-do

724-736

Kód UT WoS článku

000925127900001

EID výsledku v databázi Scopus

2-s2.0-85166567164