Underwater soft jet propulsion based on a hoberman mechanism

Iacoponi, Saverio, Picardi, Giacomo, Chellapurath, Mrudul , Calisti, Marcello and Cecilia, Laschi (2018) Underwater soft jet propulsion based on a hoberman mechanism. In: EEE International Conference on Soft Robotics (RoboSoft), 2018.

Full content URL: https://doi.org/10.1109/ROBOSOFT.2018.8405367

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

This paper presents the results of single pulsation tests aimed to evaluate the performance of a Hoberman sphere mechanism as an underwater jet propulsor. The tests were carried out in a fish tank and the position of the robot was visually tracked to estimate the speed and the contraction kinematic. Results suggest that, due to the great volume variation allowed by the Hoberman sphere, this system can reach similar performances in term of speed with respect to previous solutions, while it can improve the generated thrust.

Keywords:Servomotors, Wires, Soft robotics, Prototypes, Actuators, Pulleys
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:46151
Deposited On:24 Aug 2021 10:29

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