Hennig Robert, Beaudette Alex, Golecki Holly M, Walsh Conor J
John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA.
Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, Massachusetts, USA.
Soft Robot. 2024 Jun;11(3):444-452. doi: 10.1089/soro.2021.0181. Epub 2024 Jan 8.
As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or replicating 3d swarm behavior. To make this research area accessible for education we developed Educational Soft Underwater Robot with Electromagnetic Actuation (ESURMA), a humanoid soft underwater robot. We achieved advances in simplicity, modularity, and performance by implementing electromagnetic actuation into the caudal fin. An electromagnet, including electronics, is placed in a waterproof housing, and permanent magnets are embedded in a soft silicone cast tail. The force from their magnetic interaction results in a bending movement of the tail. The magnetic actuation is simple to implement and requires no mechanical connection between the actuated component and the electrically controlled coil. This enables robust waterproofing and makes the device fully modular. Thanks to the direct and immediate transmission of force, experimental flapping frequencies of 14 Hz were achieved, an order of magnitude higher compared to pneumatically actuated tails. The completely silent actuation of the caudal fin enables a maximum swimming speed of 14.3 cm/s. With its humanoid shape, modular composition, and cost efficiency ESURMA represents an attractive platform for education and demonstrates an alternative method of actuating soft structures.
正如软机器人工具包平台所展示的那样，柔顺机器人带来了令人兴奋的教育机会。使用柔软波动鳍的水下机器人是一个广泛的研究课题，其应用包括探索水下生物或复制三维群体行为。为了使这个研究领域便于用于教育，我们开发了带有电磁驱动的教育型软水下机器人（ESURMA），这是一种类人软水下机器人。通过在尾鳍中实施电磁驱动，我们在简易性、模块化和性能方面取得了进展。一个包括电子元件的电磁铁放置在一个防水外壳中，永磁体嵌入在一个柔软的硅胶铸造尾巴中。它们之间的磁相互作用产生的力导致尾巴弯曲运动。磁驱动易于实施，并且在被驱动部件和电控线圈之间不需要机械连接。这实现了可靠的防水，并且使设备完全模块化。由于力的直接和即时传递，实现了14赫兹的实验拍打频率，与气动驱动的尾巴相比高出一个数量级。尾鳍的完全静音驱动使最大游泳速度达到14.3厘米/秒。凭借其类人形状、模块化组成和成本效益，ESURMA是一个有吸引力的教育平台，并展示了一种驱动软结构的替代方法。
