Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures.

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 swimm

SUBMITTER: Parra Rubio A 

PROVIDER: S-EPMC10442689 | biostudies-literature | 2023 Aug

REPOSITORIES: biostudies-literature