摘要
Pulsed jet propulsion,a highly efficient locomotion strategy prevalent among marine organisms,offers significa...展开更多
Pulsed jet propulsion,a highly efficient locomotion strategy prevalent among marine organisms,offers significant potential for bio-inspired underwater robotics.Drawing inspiration from the jet propulsion mechanism of squids,this study presents the design and implementation of a soft biomimetic robotic fish driven by a liquid metal-based electromagnetic actuator.The robot employs a novel driving strategy,wherein Lorentz forces generated through the interaction between an embedded permanent magnet and an energized liquid metal coil induce periodic contraction and relaxation of the flexible main chamber,enabling efficient pulsed jet propulsion.Through comprehensive analysis of actuator dynamics and system-level structural and control parameters,the robotic fish achieves a straight-line swimming speed of 1.71 BL/s(body lengths per second),corresponding to 8.9 cm/s,in underwater environments.To enhance maneuverability,a linear chamber parallel inclined nozzle design is adopted,achieving precise directional control with a maximum turning rate of 47.4 deg/s and a minimum turning radius of 0.4 BL.Furthermore,miniaturized power and control systems are successfully integrated inside the body,enabling fully untethered autonomous swimming of the robot,greatly enhancing system practicality.Experimental results demonstrate that the proposed robotic fish combines compact structure,rapid response,versatile control,and excellent locomotion performance,highlighting its strong application potential in marine exploration,underwater surveillance,and environmental monitoring.收起
基金
supported by two grants from the National Natural Science Foundation of China(grants No.62301522 and No.62303436)
a grant from the Fundamental Research Funds for the Central Universities(grant No.WK2090000080)
a grant from the Major Project of Anhui Province's Science and Technology Innovation Breakthrough Plan(grant No.202423h08050003).