Design and Development of Remote Operated and Soft Biomimetic Amphibious Mud Skipper (A.R.O.M.S.)
Disciplines
Acoustics, Dynamics, and Controls | Applied Mechanics | Computer-Aided Engineering and Design
Abstract (300 words maximum)
In this study, an amphibious, remotely operated, soft biomimetic locomotive mechanism is presented that can reliably travel over rough terrain and various material mediums. The design of this mechanism is inspired by the mudskipper, consisting of two compliant fins arms, a central body, and a compliant tail, utilized to travel on both land and water surfaces. The parts of the biomimetic robot are 3D printed using thermoplastic polyurethane and polylactic acid to sustain its contact with the ground in a unique way. The proposed design utilizes four servo motors to consistently move two soft fin arms to overcome obstacles. Each compliant fin arm is actuated in a swiping motion by a single servo motor in the horizontal plane, however, the fins are designed to move the robot vertically when they deform due to the friction interaction with the ground since the compliant fins are 3D printed at a diagonal angle. When forces are applied in opposite directions on the top and bottom of the fins, the fins are formed into vertical blades with an increased height that can lift the main body of the mechanism off the ground. The load increases the traction on the fins and allows the robot to move forward and backward as the fins stride across a surface. This angled geometry also allows the fins to reset to their initial position without causing backward translation.
All the electronics are modified to be waterproof so that the robot can travel on a water surface without the hazard of shorting. Additionally, MATLAB Simscape model of the robot is created to optimize the link lengths and analyze the motion behavior.
Academic department under which the project should be listed
SPCEET - Mechanical Engineering
Primary Investigator (PI) Name
Ayse Tekes
Design and Development of Remote Operated and Soft Biomimetic Amphibious Mud Skipper (A.R.O.M.S.)
In this study, an amphibious, remotely operated, soft biomimetic locomotive mechanism is presented that can reliably travel over rough terrain and various material mediums. The design of this mechanism is inspired by the mudskipper, consisting of two compliant fins arms, a central body, and a compliant tail, utilized to travel on both land and water surfaces. The parts of the biomimetic robot are 3D printed using thermoplastic polyurethane and polylactic acid to sustain its contact with the ground in a unique way. The proposed design utilizes four servo motors to consistently move two soft fin arms to overcome obstacles. Each compliant fin arm is actuated in a swiping motion by a single servo motor in the horizontal plane, however, the fins are designed to move the robot vertically when they deform due to the friction interaction with the ground since the compliant fins are 3D printed at a diagonal angle. When forces are applied in opposite directions on the top and bottom of the fins, the fins are formed into vertical blades with an increased height that can lift the main body of the mechanism off the ground. The load increases the traction on the fins and allows the robot to move forward and backward as the fins stride across a surface. This angled geometry also allows the fins to reset to their initial position without causing backward translation.
All the electronics are modified to be waterproof so that the robot can travel on a water surface without the hazard of shorting. Additionally, MATLAB Simscape model of the robot is created to optimize the link lengths and analyze the motion behavior.