Underwater minirobots actuated by hybrid driving method

作     者：Xinghong YE Yang YANG Pengcheng JIAO Zhiguo HE Lingwei LI Xinghong YE;Yang YANG;Pengcheng JIAO;Zhiguo HE;Lingwei LI

作者机构：Institute of PortCoastal and Offshore EngineeringOcean CollegeZhejiang UniversityZhoushan 316021China Engineering Research Center of Oceanic Sensing Technology and Equipment of Ministry of EducationZhejiang UniversityZhoushan 316021China Department of Biomedical Engineering(BME)National University of SingaporeSingapore 119077Singapore Key Laboratory of Marine Geotechnical Engineering and MaterialsZhoushan 316021China 

出 版 物：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 (浙江大学学报（英文版）A辑（应用物理与工程）)

年 卷 期：2023年第24卷第7期

页      面：596-611页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the Key Research and Development Plan of Zhejiang Province,China(No.2021C03181) the Startup Fund of the Hundred Talents Program at the Zhejiang University,China the China Scholarship Council(No.202006320349) 

主　　题：Hybrid driving method(HDM) Underwater minirobots Operation reliability Transient actuation 

摘      要：Underwater minirobots have attracted significant interest due to their value in complex application *** underwater minirobots are driven mainly by a soft or rigid ***,soft actuation is currently facing challenges,including inadequate motional control accuracy and the lack of a continuous and steady driving force,while conventional rigid actuation has limited actuation efficiency,environmental adaptability,and motional flexibility,which severely limits the accomplishment of complicated underwater *** this study,we developed underwater minirobots actuated by a hybrid driving method(HDM)that combines combustion-based actuators and propeller thrusters to achieve accurate,fast,and flexible underwater locomotion *** experiments were conducted to investigate the kinematic performance of the minirobots with respect to the motion modes of rising,drifting,and *** models were used to investigate the kinematic characteristics of the minirobots,and theoretical models developed to unveil the mechanical principle that governs the driving *** agreement was obtained from comarisons of the experimental,numerical,and theoretical ***,the HDM was compared with selected hybrid driving technologies in terms of acceleration and response *** comparison showed that the minirobots based on HDM were generally superior in transient actuation ability and reliability.