Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures
Name
parra-rubio-et-al-2023-modular-morphing-lattices-for-large-scale-underwater-continuum-robotic-structures.pdf
Description
Published version
Size
1.74 MB
Format
Adobe PDF
Checksum (MD5)
23f1ed70d9b27166daabc78127f31fae
Author(s)
Parra Rubio, Alfonso
Fan, Dixia
Jenett, Benjamin
del Águila Ferrandis, José
Tourlomousis, Filippos
Abdel-Rahman, Amira
Preiss, David
Zemánek, Jiri
Triantafyllou, Michael
Gershenfeld, Neil
Date Issued
August 1, 2023
Journal
Soft Robotics
Publisher
Mary Ann Liebert Inc
Citation
Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures
Alfonso Parra Rubio, Dixia Fan, Benjamin Jenett, José del Águila Ferrandis, Filippos Tourlomousis, Amira Abdel-Rahman, David Preiss, Jiri Zemánek, Michael Triantafyllou, and Neil Gershenfeld Soft Robotics 2023 10:4, 724-736.
Version
Final published version
Abstract
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 L∕D 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.
MIT Department
Massachusetts Institute of Technology. Center for Bits and Atoms
Massachusetts Institute of Technology. Sea Grant College Program
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1089/soro.2022.0117
