用于软体水下机器人脉冲喷流推进的双稳态SMA驱动引擎
Bistable SMA-driven engine for pulse-jet locomotion in soft aquatic robots
AI总结：
本文提出仿生软体水下机器人DilBot，采用双稳态形状记忆合金驱动引擎实现脉冲喷流推进，峰值速度达158 mm/s，最大推力5.59 N，为水下环境监测的机器人集群应用提供了新途径。
摘要：
本文提出了一种仿生软体水下机器人DilBot的设计与实验验证，该机器人采用双稳态形状记忆合金（SMA）驱动的引擎实现脉冲喷流推进。受箱水母高效游动机制的启发，DilBot结合了封装在硅胶绝缘层中的拮抗式SMA弹簧，以实现高功率推进。创新的双稳态机构通过受控地存储和释放能量，实现了连续的游动周期。通过自由游动实验和力特性测试，我们评估了DilBot的性能，其峰值速度达到158 mm/s，并产生5.59 N的最大推力。这项工作展示了一种提升SMA执行器在水下环境中效率的新方法，为未来利用机器人集群进行水下环境监测提供了有前景的途径。
英文摘要：
This paper presents the design and experimental validation of a bio-inspired soft aquatic robot, the DilBot, which uses a bistable shape memory alloy-driven engine for pulse-jet locomotion. Drawing inspiration from the efficient swimming mechanisms of box jellyfish, the DilBot incorporates antagonistic shape memory alloy springs encapsulated in silicone insulation to achieve high-power propulsion. The innovative bistable mechanism allows continuous swimming cycles by storing and releasing energy in a controlled manner. Through free-swimming experiments and force characterization tests, we evaluated the DilBot's performance, achieving a peak speed of 158 mm/s and generating a maximum thrust of 5.59 N. This work demonstrates a novel approach to enhancing the efficiency of shape memory alloy actuators in aquatic environments. It presents a promising pathway for future applications in underwater environmental monitoring using robotic swarms.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
