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A Novel Aerial-Aquatic Locomotion Robot with Variable Stiffness Propulsion Module

Junzhe Hu, Pengyu Chen, Tianxiang Feng, Yuxuan Wen, Ke Wu, Janet Dong

TL;DR

The paper tackles the problem of achieving efficient, eco-friendly cross-media locomotion in a single platform. It introduces a novel aerial-aquatic locomotion robot (AALR) that integrates a variable stiffness propulsion module (VSPM) built from a low-melting-point alloy (LMPA) and variable stiffness joints (VSJ) into a quadrotor frame, enabling underwater rowing propulsion without traditional propellers. Key contributions include the design and fabrication of the VSPM, a biomimetic rowing propulsion mode inspired by diving beetles, and a dynamic model used to optimize VSPM dimensions; aquatic experiments demonstrated a maximum speed of $0.077$ m/s (77 mm/s) and a significant improvement over baseline, while aerial tests validated flight stability with a $15.3$ minute flight time. The work demonstrates a compact, low-weight solution for trans-media robots that reduces environmental impact and expands application potential in rescue, monitoring, and marine research.

Abstract

In recent years, the development of robots capable of operating in both aerial and aquatic environments has gained significant attention. This study presents the design and fabrication of a novel aerial-aquatic locomotion robot (AALR). Inspired by the diving beetle, the AALR incorporates a biomimetic propulsion mechanism with power and recovery strokes. The variable stiffness propulsion module (VSPM) uses low melting point alloy (LMPA) and variable stiffness joints (VSJ) to achieve efficient aquatic locomotion while reduce harm to marine life. The AALR's innovative design integrates the VSPM into the arms of a traditional quadrotor, allowing for effective aerial-aquatic locomotion. The VSPM adjusts joint stiffness through temperature control, meeting locomotion requirements in both aerial and aquatic modes. A dynamic model for the VSPM was developed, with optimized dimensional parameters to increase propulsion force. Experiments focused on aquatic mode analysis and demonstrated the AALR's swimming capability, achieving a maximum swimming speed of 77 mm/s underwater. The results confirm the AALR's effective performance in water environment, highlighting its potential for versatile, eco-friendly operations.

A Novel Aerial-Aquatic Locomotion Robot with Variable Stiffness Propulsion Module

TL;DR

The paper tackles the problem of achieving efficient, eco-friendly cross-media locomotion in a single platform. It introduces a novel aerial-aquatic locomotion robot (AALR) that integrates a variable stiffness propulsion module (VSPM) built from a low-melting-point alloy (LMPA) and variable stiffness joints (VSJ) into a quadrotor frame, enabling underwater rowing propulsion without traditional propellers. Key contributions include the design and fabrication of the VSPM, a biomimetic rowing propulsion mode inspired by diving beetles, and a dynamic model used to optimize VSPM dimensions; aquatic experiments demonstrated a maximum speed of m/s (77 mm/s) and a significant improvement over baseline, while aerial tests validated flight stability with a minute flight time. The work demonstrates a compact, low-weight solution for trans-media robots that reduces environmental impact and expands application potential in rescue, monitoring, and marine research.

Abstract

In recent years, the development of robots capable of operating in both aerial and aquatic environments has gained significant attention. This study presents the design and fabrication of a novel aerial-aquatic locomotion robot (AALR). Inspired by the diving beetle, the AALR incorporates a biomimetic propulsion mechanism with power and recovery strokes. The variable stiffness propulsion module (VSPM) uses low melting point alloy (LMPA) and variable stiffness joints (VSJ) to achieve efficient aquatic locomotion while reduce harm to marine life. The AALR's innovative design integrates the VSPM into the arms of a traditional quadrotor, allowing for effective aerial-aquatic locomotion. The VSPM adjusts joint stiffness through temperature control, meeting locomotion requirements in both aerial and aquatic modes. A dynamic model for the VSPM was developed, with optimized dimensional parameters to increase propulsion force. Experiments focused on aquatic mode analysis and demonstrated the AALR's swimming capability, achieving a maximum swimming speed of 77 mm/s underwater. The results confirm the AALR's effective performance in water environment, highlighting its potential for versatile, eco-friendly operations.
Paper Structure (11 sections, 7 equations, 10 figures, 3 tables)

This paper contains 11 sections, 7 equations, 10 figures, 3 tables.

Table of Contents

  1. Introduction
  2. Aerial Aquatic Locomotion Robot Design
  3. Prototype
  4. Variable Stiffness Joint Design
  5. Variable Stiffness Propulsion Module
  6. Control System
  7. Results and Discussion
  8. Experiment of Aquatic Mode
  9. Experiment of Aerial Mode
  10. Conclusion
  11. Future work

Figures (10)

  • Figure 1: Design essentials of the AALR prototype.
  • Figure 2: Experimental setup (a) Cross-section of the entire waterproof tank. (b) Enlarged image of six parts. (c) Schematic of propulsion period, 1-3: power stroke; 4-6: recovery stroke.
  • Figure 3: Component and material of VSJ.
  • Figure 4: Stiffness measurement experiments of joints. (a) Thermal imaging results. (b) Metal surface temperature plot. (c) Stiffness measurement experimental setup. (d) Stiffness measurement of soft, rigid, and liquid joints.
  • Figure 5: (a) Structure of VSPM. (b) Schematic diagram of VSPM dynamic modeling. (c) Change joint stiffness utilizing the heating system and LMPA.
  • ...and 5 more figures