Design, Modeling and Experiment on Soft Robotic Fish Driven by Electrostatic Hydraulic Actuators

doi:10.3901/JME.2025.13.302

Abstract

Abstract: Based on the working principle of electrostatic hydraulic soft-body actuators, this paper designs a cable-free soft robotic fish with high underwater maneuverability inspired by manta ray. Firstly, a symmetrical electrostatic hydraulic soft-body drive joint is proposed, which is applied to the pectoral fin propulsion part of the robot fish. The fins are based on the flutter-wave hybrid bionic propulsion mode to obtain the soft robot thrust. Secondly, a buoyancy control mechanism is introduced into the dorsal fin of the robotic fish. By applying positive and negative currents of a certain frequency to the electromagnetic coil, the dorsal fin blade is driven to swing left and right to generate downward propulsion, thereby realizing diving. Finally, the kinematic and mechanical characteristics of the pectoral fin actuator are analyzed experimentally, the dynamic model of pectoral fin flutter under water is established, and the corresponding performance tests and functional integration are carried out. Experimental results show that the soft robotic fish can realize a motion speed of 34.46 mm/s (0.15 BL/s), its turning radius is 15.2 cm, and its diving speed is 14.33 mm/s. The mechanical analysis, drive design and system integration methods of the robotic fish can be generalized to the design of various soft robots and flexible intelligent devices, providing new ideas for the design of next-gen of electrically driven soft robots and underwater equipment.

Key words: electrostatic hydraulic actuators, soft robotic fish, flutter-wave propulsion, dynamical model, electromagnetic float and sink

CLC Number:

TP242

WANG Shenlong, WANG Hongwei, REN Feiyu, YUAN Jiahao, SU Zekun, XU Kaiyi, LI Guorui. Design, Modeling and Experiment on Soft Robotic Fish Driven by Electrostatic Hydraulic Actuators[J]. Journal of Mechanical Engineering, 2025, 61(13): 302-314.

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