Multifunctional Soft Appendage for Underwater Locomotion and Manipulation

Abstract

Robots enabled humans to explore earth and space, but traditional rigid robots entailed some limitations, especially when working in uncertain and confined environments. In this scenario, soft robotics appears as a promising alternative to overcome some of these challenges, thanks to their embodied intelligence [1]. Embodied intelligence of soft robots is characterized by improving their capabilities to adapt to different shapes with respect to it is surrounding environment[2]. In previous work, researchers at Khalifa University proposed the design of a flagellum-inspired soft propeller [3], and an underwater robot prototype propelled by four flagellar modules was presented. The main objective of the current project is to develop a multi-functional design that combines the locomotion and manipulation capabilities of the soft flagellar propeller. With regard to flagellum locomotion, an optimization process is performed on the mechanical properties of the propeller to define a new design with improved propulsion capabilities. On the other end, for the multi-functional design, the main challenge is the definition of an underwater actuation mechanism that can be efficiently combined with the rotating mechanism, which causes an entanglement to the actuation wires, tendons, or pipes. In this paper, a new concept design has been presented to tackle the entanglements, and a differential mechanism has been developed for controlling the actuation resulting in a multi-functional prototype. The fabrication process has been discussed, the design has been tested and validated with a MATLAB simulation toolbox based on the Geometric Variable-Strain (GVS) approach.

Date of Award	Dec 2022
Original language	American English
Supervisor	Federico Renda (Supervisor)