Bistable SMA-driven engine for pulse-jet locomotion in soft aquatic robots
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912310924148736 |
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| author | Bedenik, Graziella Morales, Antonio Pieris, Supun da Silva, Barbara Kurelek, John W. Greeff, Melissa Robertson, Matthew |
| author_facet | Bedenik, Graziella Morales, Antonio Pieris, Supun da Silva, Barbara Kurelek, John W. Greeff, Melissa Robertson, Matthew |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_03988 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Bistable SMA-driven engine for pulse-jet locomotion in soft aquatic robots Bedenik, Graziella Morales, Antonio Pieris, Supun da Silva, Barbara Kurelek, John W. Greeff, Melissa Robertson, Matthew Robotics 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. |
| title | Bistable SMA-driven engine for pulse-jet locomotion in soft aquatic robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.03988 |