A Soft Aquatic Actuator for Unsteady Peak Power Amplification

Journal article (2018)

Authors

Francesco Giorgio-Serchi The University of Edinburgh

Artur K. Lidtke University of Southampton

Gabriel D. Weymouth University of Southampton

Affiliation

External organisation

Soft robots Soft actuators Variable stiffness actuators Aquatic robots Bioinspired robots Explosive motion Hydraulic actuators Soft locomotion

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http://resolver.tudelft.nl/uuid:869f461e-b888-4333-b93b-c7cfeede58ef

Published Date

2018

Language

English

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Abstract

A soft hydraulic actuator is presented which uses elastic energy storage for the purpose of pulsed-jet propulsion of soft unmanned underwater vehicles. The actuator consists of a flexible membrane that can be inflated using a micropump and whose elastic potential energy may be released on demand using a controllable valve, in a manner inspired by the swimming of squids and octopuses. It is shown that for equivalent initial elastic energy, the drop in peak thrust is linearly proportional to the decrease in nozzle cross section. Peak hydraulic power amplification of the soft actuator of approximately 75% is achieved with respect to that of the driving pump, confirming that passive elasticity can be exploited in aquatic propulsion to replicate the explosive motion skills of agile sea-dwelling creatures.